diff --git a/addverb_syncro10/.metadata/Syncro10_benchmark.json b/addverb_syncro10/.metadata/addverb_syncro10_benchmark.json similarity index 99% rename from addverb_syncro10/.metadata/Syncro10_benchmark.json rename to addverb_syncro10/.metadata/addverb_syncro10_benchmark.json index 25534b0ea8ed2a1489b48757abfd64f0dcf21306..2e41ea700c7cd5dee8d36455243cdd0493c042c8 100644 --- a/addverb_syncro10/.metadata/Syncro10_benchmark.json +++ b/addverb_syncro10/.metadata/addverb_syncro10_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "Syncro10", + "asset": "addverb_syncro10", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/addverb_syncro10/.metadata/Syncro10_validation.json b/addverb_syncro10/.metadata/addverb_syncro10_validation.json similarity index 97% rename from addverb_syncro10/.metadata/Syncro10_validation.json rename to addverb_syncro10/.metadata/addverb_syncro10_validation.json index f57c21b6d86b12b2ebfe6636b40e67527c8f3000..ec53ebc9f757f10a1ec17ee5816f2c88bcde85d3 100644 --- a/addverb_syncro10/.metadata/Syncro10_validation.json +++ b/addverb_syncro10/.metadata/addverb_syncro10_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1e44a9164df9b26359ffc8fc57936f4b604f866f..e4ab7295f1196660b92a108098266f4e2b2df3e3 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:10:22", + "timestamp": "2026-11-03T23:31:08", "assets": [ { "asset": "Syncro10.usda", diff --git a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d4b5a37f33326afdf7fd1525bbe623867c470ada..801fc9bd57bf66f8dfa0dcce1ff212f8378415d7 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/addverb_syncro10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:19:59", + "timestamp": "2026-11-03T23:31:10", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json b/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json index d18c5dbe32291ccfbc0882f7e7113cb1936fee9a..347a4ce657d4d64b202dab8b41fd84be4d0a7fee 100644 --- a/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/addverb_syncro10/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/addverb_syncro10/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/addverb_syncro10/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/Syncro10.usda.png", diff --git a/addverb_syncro10/com.nvidia.simready.packaging.json b/addverb_syncro10/com.nvidia.simready.packaging.json index a214709a69df2009e93712042a9d454d9ee1722b..82b3f4aa82fc2502ac780ca47d34db8379a60b6a 100644 --- a/addverb_syncro10/com.nvidia.simready.packaging.json +++ b/addverb_syncro10/com.nvidia.simready.packaging.json @@ -1,30 +1,30 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro10.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "Syncro10_benchmark.json", + "name": "addverb_syncro10_benchmark.json", "hash": { - "sha256": "edc4e7b9abf03fb241c611d2f1954a0c0daf6ebb255e40e9dad5d33fc4388010" + "sha256": "03a32480ed26e1cb773b3b2db90b66b6d55b16ebdb9a72ca90adeb6f60d7f3d1" } }, { - "name": "Syncro10_validation.json", + "name": "addverb_syncro10_validation.json", "hash": { - "sha256": "4354d48732ae9d87e8029f94ca6148731a5b5269113d7a2a56bf6aef3b9495a0" + "sha256": "236c309d0b919a9f7dc281e1e647bc624af76554a8f1601a1cd97e825102d9b9" } }, { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "aae51ac427a196a64dd476228cf9b380ba2ee210f888b0e406dc376c84a23a66" + "sha256": "24792bdba8af3fdb6ff699dca161fb0b8b68db5b30c68d9a20b09d03334cf6dc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "35c9e875bbc73ea64800b34d64d0f948edebe51484de08fdeda851db179fc736" + "sha256": "275192147d5e1fbf646a4f5cebe0fa6aab6a4e1f3c0301693fd75f2bf4fd0c48" } }, { @@ -44,6 +44,6 @@ "sha256": "db4d8065113e2e22225388ceafb1608fec4d0b1ed11338b4b13adbfcac4e03ba" }, "package_hash": { - "sha256": "8cc7acefc2f6c86d786df396630ac8f82710bf13c7bf5b8f11c034cb11c97ce9" + "sha256": "6136d7ff7852635e258608a150fc4ecb6e5d6071dd991f7bf413af8897aff0f4" } } diff --git a/addverb_syncro5/.metadata/Syncro5_benchmark.json b/addverb_syncro5/.metadata/addverb_syncro5_benchmark.json similarity index 99% rename from addverb_syncro5/.metadata/Syncro5_benchmark.json rename to addverb_syncro5/.metadata/addverb_syncro5_benchmark.json index ca98e3b538adcb433ade6a1a8754b3db2cb8921d..77942ba497523409c37df050395b80f85e5f9a4c 100644 --- a/addverb_syncro5/.metadata/Syncro5_benchmark.json +++ b/addverb_syncro5/.metadata/addverb_syncro5_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "Syncro5", + "asset": "addverb_syncro5", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/addverb_syncro5/.metadata/Syncro5_validation.json b/addverb_syncro5/.metadata/addverb_syncro5_validation.json similarity index 97% rename from addverb_syncro5/.metadata/Syncro5_validation.json rename to addverb_syncro5/.metadata/addverb_syncro5_validation.json index 9001448819caa3e42c7f1231c266203124b8594a..7e87bc970357dced92ef41cf54afc9b35c71db66 100644 --- a/addverb_syncro5/.metadata/Syncro5_validation.json +++ b/addverb_syncro5/.metadata/addverb_syncro5_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 36aa81cdd9f8267ee1435d3398b1c154746316d3..7719bdf15909366620ea8a2735a7822309b20e7f 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:12", + "timestamp": "2026-11-03T23:31:28", "assets": [ { "asset": "Syncro5.usda", diff --git a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 848e1ab4e798dd2ef7723a30c964ac0ffb267851..31f913fdbe3d08b305ab0b3ce5efe7535a4c6cb7 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/addverb_syncro5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:14", + "timestamp": "2026-11-03T23:31:30", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json b/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json index cf8ec4fe13e924a5dc2bdae44fa0a70575bf8803..322fc8d40c1319f727415083a6b7aa193fc1a76c 100644 --- a/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json +++ b/addverb_syncro5/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/addverb_syncro5/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/addverb_syncro5/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/Syncro5.usda.png", diff --git a/addverb_syncro5/com.nvidia.simready.packaging.json b/addverb_syncro5/com.nvidia.simready.packaging.json index 9b99e92d185a202eb2c35d23562356218ee7b1c9..0533f8bae50d73e18bfc28507e8304a236ffa50a 100644 --- a/addverb_syncro5/com.nvidia.simready.packaging.json +++ b/addverb_syncro5/com.nvidia.simready.packaging.json @@ -1,30 +1,30 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.addverb_syncro5.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "Syncro5_benchmark.json", + "name": "addverb_syncro5_benchmark.json", "hash": { - "sha256": "178c9eaabb4c3e3542866be7372040882100d7aed722b324774544470e08dde8" + "sha256": "a41422718ba537ca15c7ac3da32255498d55c012e74f5f0ff9b9b5163f5290e5" } }, { - "name": "Syncro5_validation.json", + "name": "addverb_syncro5_validation.json", "hash": { - "sha256": "171d34783a8ea6bd8f92669e2740add393eab570366413b4ff4126435bbb72d0" + "sha256": "e9ab579a95ca3306dc8b6873e41c8ea79729c2f1a4b6295d846914fea66693e6" } }, { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f5bc1c79755ff76e410d431e3da2a0c2cd8ff433be3957ef73459dc0a57e16ed" + "sha256": "b6315bc2dfa443ec9a18beaceb0c04187bc7878b8d052239569be95086741e08" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c628c57ac41d9b2b6a10ea2c4517cbd98d7a09d4d4ba12f8fcf94bc954f57a83" + "sha256": "8c97d8c4e38b870d687e946e73cbd8d200de86ce07390280a7fd0896d0b3d95e" } }, { @@ -44,6 +44,6 @@ "sha256": "1a43d907af5e0a1a9b957d26436ce55a29cc738d16647e1a0df77770d90bc059" }, "package_hash": { - "sha256": "2c0cbbd735e8f335e806d7a9e5800e00799f089f10bf6b091b6792538432d316" + "sha256": "259549e3347cb03a1f31580b44f21636a463dae32bd2325740d60666c4df2635" } } diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d120f4303a0f839da722dd40a6c2340cd6b9415b..e4fdac12c48b73f36e7cacd978ef32dbcefc17d3 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:41", + "timestamp": "2026-11-03T23:37:28", "assets": [ { "asset": "n-220-27.usda", diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index a09c474d1388d5d19370dc5fc6fabebd19398e7e..209af0aa6e5f5a4b9da99c49dba5464ec5028d6d 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:43", + "timestamp": "2026-11-03T23:37:30", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json b/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json index 293e81fbda6686b159a12d7f89557c0dac46ce31..f2cf97011588abf755bc975967db67cd829e895f 100644 --- a/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json +++ b/comau_n_220_27/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/comau_n_220_27/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/comau_n_220_27/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/n-220-27.usda.png", diff --git a/comau_n_220_27/.metadata/n-220-27_benchmark.json b/comau_n_220_27/.metadata/comau_n_220_27_benchmark.json similarity index 99% rename from comau_n_220_27/.metadata/n-220-27_benchmark.json rename to comau_n_220_27/.metadata/comau_n_220_27_benchmark.json index 667c08898d024a3f617bd9f61e16d3de26a68a2e..7c166fd5cdb5d930db121724c0f2e57f16118461 100644 --- a/comau_n_220_27/.metadata/n-220-27_benchmark.json +++ b/comau_n_220_27/.metadata/comau_n_220_27_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "n-220-27", + "asset": "comau_n_220_27", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/comau_n_220_27/.metadata/n-220-27_validation.json b/comau_n_220_27/.metadata/comau_n_220_27_validation.json similarity index 97% rename from comau_n_220_27/.metadata/n-220-27_validation.json rename to comau_n_220_27/.metadata/comau_n_220_27_validation.json index cd2b447c8b663bb5cd7c04f82cf726a835ecd9b8..f9ed3f4316b3c4b0f6e667efc55aca60513faee6 100644 --- a/comau_n_220_27/.metadata/n-220-27_validation.json +++ b/comau_n_220_27/.metadata/comau_n_220_27_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/comau_n_220_27/com.nvidia.simready.packaging.json b/comau_n_220_27/com.nvidia.simready.packaging.json index 3650b5018edac3f517843a4feeacb09796da5c87..27e3ac330c3b6c5c39debfa809197ab0be6de967 100644 --- a/comau_n_220_27/com.nvidia.simready.packaging.json +++ b/comau_n_220_27/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.comau_n_220_27.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.comau_n_220_27.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "526fb47c0667ad7a74bf82b0aea2b73327302c6bf27af7e9941604275818b128" + "sha256": "db170069d8d22297e21d5edabbcd9077727b27faae8126e67f89e56b5d1cea7f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6d2509b0cb6a856a512047811511adcc025e3e2f52552b36d0fe91ada15f9830" + "sha256": "f27d12df33c0ce6c08be2614cc378657b888a01fd4af53a3dd098b38d781f0fb" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "comau_n_220_27_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "5a90923088400e6e2320948885e1167f0ebfc6347bc0d4306c9a426e7aed7ed2" } }, { - "name": "n-220-27_benchmark.json", + "name": "comau_n_220_27_validation.json", "hash": { - "sha256": "f7b65943018d564eeff31fc4d2541bc5fbda8b50f3b5b258974ba8e81f2a0e2c" + "sha256": "1867c220959e496805ec686511415c8dfdfd51e0bbadcd1ad6a8007890fdc21a" } }, { - "name": "n-220-27_validation.json", + "name": "license.txt", "hash": { - "sha256": "9b653e604b1ae1d0880dbf10df12f074ef900b359e7a0c9404d3836e546b32c4" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "3791cf56efc016da277ebda4e07598d5de7b651a457661987359a0d1723feaa5" }, "package_hash": { - "sha256": "23ddb563043f94401ce2613aca6ddf5a5e95007b0d5c0966a7227201ecf334f6" + "sha256": "f1b37ece5d2504eb66bd33cc4ab9144c7db0a2fecf30329e2adff0a6096e0c25" } } diff --git a/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_benchmark.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_benchmark.json deleted file mode 100644 index 79f97dfb5ef20d559062e43f7ac2abbefc37708a..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_benchmark.json +++ /dev/null @@ -1,22872 +0,0 @@ -{ - "schema_version": "1.0", - "asset": "cobotta_pro_1300", - "run_timestamp": "2026-10-31T20:07:08.573916+00:00", - "passed": false, - "results": [ - { - "test_name": "culling_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.36, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.656, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 103.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.094, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "culling_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 15.61, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.66, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 103.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.125, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.36, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.015, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 145.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.485, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 12901, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 13076, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.072, - 0.072, - 0.0719 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 7.8e-05, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 29.875, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.891, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 270.14, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.407, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 12909, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 13075, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.072, - 0.072, - 0.0719 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.0, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.344, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 7, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476405523120354, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.749, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 107.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.968, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 69299.78125, - "damping": 34.6498908996582, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755966494, - "start": -1.649463985536892e-12, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 36, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 79169.765625, - "damping": 39.58488082885742, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755989929, - "start": 6.94136371645615e-13, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 56, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 537889.0, - "damping": 268.9444885253906, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982556, - "start": -4.3212852865242776e-14, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 42, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - 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}, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 79804.578125, - "damping": 39.90229034423828, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755984365, - "start": 1.3771956123252715e-13, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 70794.03125, - "damping": 35.39701461791992, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755978329, - 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 69119.0, - "damping": 34.55949783325195, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987707299216, - "start": -4.868377256883605e-09, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 44, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.375, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 7, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476417356867586, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.438, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 31.29, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.719, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235969659758949, - "start": -1.8096224039254594e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 195, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 0.0, - "max_force": 350.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236019998963967, - "start": 3.2242980978480773e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 190, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236084718904804, - "start": 9.696292181615718e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 222, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235955053350209, - "start": -3.2702632779546548e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 195, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236007756524087, - "start": 2.000054109885241e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 193, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987986913356, - "start": 2.3093036816135282e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 195, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_007": { - "value": { - "schema_version": 1, - "name": "dgv_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235033026143411, - "start": -9.547298395773396e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 186, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - 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"authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/J2", - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 0.0, - "max_force": 350.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/J3", - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - 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"external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/J4", - "runtime_lower": -2.6179938316345215, - "runtime_upper": 2.6179938316345215, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - 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}, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/J6", - "runtime_lower": -2.96705961227417, - "runtime_upper": 2.96705961227417, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.6283190250396729, - "runtime_upper": 0.6283190250396729, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 581.593, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 116.0875, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 27861, - "planned_nominal_ticks_estimate": 27861, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 581.4529999999795, - "setup_elapsed_wall_seconds": 1.6400000000139698, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 2778.5470000000205, - "observed_service_seconds_per_nominal_tick": 0.02081091848820809, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 528.1080000002403, - "attempts": 27861 - }, - "captures": { - "wall_seconds": 6.0640000000130385, - "attempts": 225 - }, - "bounds": { - "wall_seconds": 13.350000000558794, - "attempts": 1357 - }, - "camera": { - "wall_seconds": 1.8470000002998859, - "attempts": 26865 - }, - "optional_motion": { - "wall_seconds": 4.7669999992940575, - "attempts": 27853 - }, - "commands": { - "wall_seconds": 7.877999999560416, - "attempts": 27621 - }, - "encoding": { - "wall_seconds": 14.843999999924563, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476405523120354, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.14387219960482675, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint_1", - "segment": "to_max", - "requested_start": -1.6428128388895624e-12, - "observed_start": -1.6428128388895624e-12, - "ramp_seconds": 4.9625, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001274986737236098 - }, - { - "joint": "joint_1", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.5132744312286377, - "ramp_seconds": 9.675, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - 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"unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "frs_segment_timing_omitted": { - "value": 0, - "unit": null - }, - "frs_joints_passed": { - "value": 7, - "unit": null - }, - "frs_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_frs_joint_001": { - "value": { - "schema_version": 1, - "name": "frs_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.4906585216522217, - "runtime_upper": 3.4906585216522217, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1209, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 0.0, - "max_force": 350.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179938316345215, - "runtime_upper": 2.6179938316345215, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1021, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.96705961227417, - "runtime_upper": 2.96705961227417, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1149, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.6283190250396729, - "runtime_upper": 0.6283190250396729, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.266, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.438, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.25, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.421, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 3.0, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Denso/CobottaPro1300/cobotta_pro_1300/simready_usd/cobotta_pro_1300.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descr [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 3.609, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Denso/CobottaPro1300/cobotta_pro_1300/simready_usd/cobotta_pro_1300.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_005.json", - "csv": "motion_history/jik_target_004_joint_005.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_006": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - 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"partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_006.json", - "csv": "motion_history/jik_target_004_joint_006.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_007": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_008.json", - "csv": "motion_history/jik_target_004_joint_008.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_009": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_009", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_009.json", - "csv": "motion_history/jik_target_004_joint_009.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_010": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_010", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_010.json", - "csv": "motion_history/jik_target_004_joint_010.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_011": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_011", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 328, - "json": "motion_history/jik_target_004_joint_011.json", - "csv": "motion_history/jik_target_004_joint_011.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 136.188, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.717, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 193.71, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.125, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint_1_rot_deg": { - "value": 173.362, - "unit": null - }, - "jm_joint_joint_1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_m": { - "value": 0.321, - "unit": null - }, - "jm_joint_joint_1_translation_stage_units": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_stage_units": { - "value": 0.3210004214609064, - "unit": null - }, - "jm_joint_joint_1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_1_pct_of_travel": { - "value": 64.2, - "unit": null - }, - "jm_joint_joint_1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_2_rot_deg": { - "value": 150.0, - "unit": null - }, - "jm_joint_joint_2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_2_bbox_m": { - "value": 0.9012, - "unit": null - }, - "jm_joint_joint_2_translation_stage_units": { - "value": 1.1957485696178764e-07, - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_stage_units": { - "value": 0.9012126160587275, - "unit": null - }, - "jm_joint_joint_2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_2_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint_2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_3_rot_deg": { - "value": 150.0, - "unit": null - }, - "jm_joint_joint_3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_3_bbox_m": { - "value": 0.6144, - "unit": null - }, - "jm_joint_joint_3_translation_stage_units": { - "value": 6.167850295273877e-07, - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_stage_units": { - "value": 0.6143682209609946, - "unit": null - }, - "jm_joint_joint_3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_3_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint_3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - 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"source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_019.json", - "csv": "motion_history/joint_movement_019.csv" - }, - "unit": null - }, - "motion_history_joint_movement_020": { - "value": { - "schema_version": 1, - "name": "joint_movement_020", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_020.json", - "csv": "motion_history/joint_movement_020.csv" - }, - "unit": null - }, - "motion_history_joint_movement_021": { - "value": { - "schema_version": 1, - "name": "joint_movement_021", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_021.json", - "csv": "motion_history/joint_movement_021.csv" - }, - "unit": null - }, - "motion_history_joint_movement_022": { - "value": { - "schema_version": 1, - "name": "joint_movement_022", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_022.json", - "csv": "motion_history/joint_movement_022.csv" - }, - "unit": null - }, - "motion_history_joint_movement_023": { - "value": { - "schema_version": 1, - "name": "joint_movement_023", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_023.json", - "csv": "motion_history/joint_movement_023.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 100.844, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.047, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 156.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.031, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint_1_rot_deg": { - "value": 179.991, - "unit": null - }, - "jm_joint_joint_1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_m": { - "value": 0.321, - "unit": null - }, - "jm_joint_joint_1_translation_stage_units": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_stage_units": { - "value": 0.32100061350231374, - "unit": null - }, - "jm_joint_joint_1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_1_pct_of_travel": { - "value": 90.0, - "unit": null - }, - "jm_joint_joint_1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_2_rot_deg": { - "value": 147.674, - "unit": null - }, - "jm_joint_joint_2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_2_bbox_m": { - "value": 0.9012, - "unit": null - }, - "jm_joint_joint_2_translation_stage_units": { - "value": 3.695486963327453e-08, - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_stage_units": { - "value": 0.9012137629113515, - "unit": null - }, - "jm_joint_joint_2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_2_pct_of_travel": { - "value": 98.4, - "unit": null - }, - "jm_joint_joint_2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_3_rot_deg": { - "value": 147.702, - "unit": null - }, - "jm_joint_joint_3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_3_bbox_m": { - "value": 0.6144, - "unit": null - }, - "jm_joint_joint_3_translation_stage_units": { - "value": 2.1174202907014197e-07, - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_stage_units": { - "value": 0.614369527851284, - "unit": null - }, - "jm_joint_joint_3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_3_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_4_rot_deg": { - "value": 147.702, - "unit": null - }, - "jm_joint_joint_4_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_4_bbox_m": { - "value": 0.2132, - "unit": null - }, - "jm_joint_joint_4_translation_stage_units": { - "value": 1.839622929880518e-07, - "unit": null - }, - "jm_joint_joint_4_bbox_diagonal_stage_units": { - "value": 0.21323040336454452, - "unit": null - }, - "jm_joint_joint_4_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_4_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_4_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_4_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_4_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_4_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_4_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_5_rot_deg": { - "value": 147.702, - "unit": null - }, - "jm_joint_joint_5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_5_bbox_m": { - "value": 0.2009, - "unit": null - }, - "jm_joint_joint_5_translation_stage_units": { - "value": 2.0230165508209586e-07, - "unit": null - }, - "jm_joint_joint_5_bbox_diagonal_stage_units": { - "value": 0.20094410278327496, - "unit": null - }, - "jm_joint_joint_5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_5_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_6_rot_deg": { - "value": 167.395, - "unit": null - }, - "jm_joint_joint_6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_6_bbox_m": { - "value": 0.159, - "unit": null - }, - "jm_joint_joint_6_translation_stage_units": { - "value": 1.241625392654912e-07, - "unit": null - }, - "jm_joint_joint_6_bbox_diagonal_stage_units": { - "value": 0.15899639407680874, - "unit": null - }, - "jm_joint_joint_6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.672, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.954, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 98.47, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.094, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.793103, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 23, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.941416, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.018064, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 8.625, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.926, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 97.53, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.063, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.942819, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.017426, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 20.953, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.314, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 262.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 13077, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.922, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.39, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 278.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 13087, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 60.859, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - 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"value": 0.003419041986107485, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_ref_swept_rad": { - "value": 1.0002197921276093, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_observed_rad": { - "value": 0.9928923845291138, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_expected_rad": { - "value": 1.0002197921276093, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_motion_ratio": { - "value": 0.9926742025541115, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_gear_ratio_error": { - "value": 0.00732579744588846, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.02408544346690178, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_rest_residual_rad": { - "value": 0.006871306847041847, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_max_error_rad": { - "value": 0.009838849306106567, - 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}, - "mim_pair_right_outer_knuckle_joint_max_error_rad": { - "value": 0.08347782492637634, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_mean_error_rad": { - "value": 0.036358146950218016, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_ref_swept_rad": { - "value": 1.0053103566169739, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_observed_rad": { - "value": 1.0885833501815796, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_expected_rad": { - "value": 1.0053103566169739, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_motion_ratio": { - "value": 1.0828331201568762, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_gear_ratio_error": { - "value": 0.08283312015687616, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.09918573498725891, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_rest_residual_rad": { - 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"physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - 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"unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - 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"value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 433, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 433, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 433, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 6.437, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.126, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 390.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 3, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 3, - "unit": null - }, - "_render_blank_retry[normals_xz_004.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "_render_blank_retry[normals_xz_006.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "_render_blank_retry[normals_xz_007.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.266, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.313, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 414.12, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.687, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 3, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 3, - "unit": null - }, - "_render_blank_retry[normals_xz_004.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "_render_blank_retry[normals_xz_006.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "_render_blank_retry[normals_xz_007.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 20.703, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.297, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 259.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 13058, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 23.5, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.532, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 306.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 13079, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 8.297, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.952, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 97.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.235, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.797, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.095, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 104.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.188, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 1.703, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.188, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 94.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.056042, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 2.359, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.171, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 85.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.056198, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 19.719, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.124, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 224.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 12874, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.484, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.375, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 275.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 12872, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.329, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.5, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 39.078, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476405523120354, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.11, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 70, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 15.86, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 7, - "unit": null - }, - "sta_joints_passed": { - "value": 7, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.0002992381892169956, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 200, - 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"joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 183, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 21.844, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476405523120354, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.764, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 10, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 76.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.875, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 69299.78125, - "damping": 34.6498908996582, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 37, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 79169.765625, - "damping": 39.58488082885742, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 27, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 537889.0, - "damping": 268.9444885253906, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 30, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 102940.5, - "damping": 51.470252990722656, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 33, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 79804.578125, - "damping": 39.90229034423828, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 25, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 70794.03125, - "damping": 35.39701461791992, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 49, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 69119.0, - "damping": 34.55949783325195, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 15.141, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 7.476417356867586, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.625, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 26, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 24.04, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.125, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 0.0, - "max_force": 350.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_validation.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_validation.json deleted file mode 100644 index 0c4ba7ea6672416db5e932cff970b0a3266a73d9..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/cobotta_pro_1300_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/cobotta_pro_1300.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - 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"sha256": "20ff4a75e01169610df9b0417d5b070a175b263715dbe6cd4748a47a7893aca4" - } - }, - { - "relative_path": "runnables/physics/physx.usda", - "size": 11390, - "hash": { - "sha256-flat-1mb": "2f63b83fba5564c116d942868683c96bae09159801ba173b6d507376f4b8b140", - "sha256": "b4ab8c62941f17cee535b59a4c10d548f819763cdd66602bbb047350758d81a6" - } - } - ] -} \ No newline at end of file diff --git a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.root_usds.json b/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.root_usds.json deleted file mode 100644 index b62ff25c7d5f0c3d5b563bbd2083349cbd8a72f2..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/.metadata/com.nvidia.simready.root_usds.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "format_version": "1.0", - "entries": [ - "cobotta_pro_1300.usda" - ] -} diff --git a/denso_cobottapro1300_cobotta_pro_1300/.thumbs/256x256/cobotta_pro_1300.usda.png b/denso_cobottapro1300_cobotta_pro_1300/.thumbs/256x256/cobotta_pro_1300.usda.png deleted file mode 100644 index 4f62d2a7be85b41b87985d4944b325a3289f14be..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/.thumbs/256x256/cobotta_pro_1300.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:adca11d20b8ae020b7b55128ff92d15a5b5eec5da692e17793a1dd206ee359df -size 34764 diff --git a/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda b/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda deleted file mode 100644 index 5b5210988e4b39a8afdcac4f0ead0d1a06b4e809..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/cobotta_pro_1300.usda +++ /dev/null @@ -1,1423 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_1300" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_1300" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_1300" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.19102141, 0.38669902, 1.9477055) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "cobotta_pro_1300" - string asset_type = "robot" - string author = "Denso" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 7.999999992549419 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Denso/CobottaPro1300/cobotta_pro_1300/cobotta_pro_1300.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "cobotta_pro_1300" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg6_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json b/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json deleted file mode 100644 index 2c791c13035caa31736551cfe5ca82d64a41ec15..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro1300_cobotta_pro_1300.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "cobotta_pro_1300_benchmark.json", - "hash": { - "sha256": "cdc3bb6d863a9b6b0c2317e51ff8243e41fb3e85de583b1c175ccbac58b4e62e" - } - }, - { - "name": "cobotta_pro_1300_validation.json", - "hash": { - "sha256": "4e08e4e4d68ed2bd7b60ccbd2fd9072879d92143e9a7a21b4f80dd26f1aecc4d" - } - }, - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "7616f07410846068b086e546d26f3c65fb016353fa5810f392029c1afb2c3d6e" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "fe6e4833435ccf33d593c864870fa58bf0bc8a524408ead0c2e20043e98021fe" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "fb15a8041fbf2eaf111d7837f94c0fb450cf8e2ad8c4fe7cdf01d7909c49ebfb" - } - } - ], - "content_hash": { - "sha256": "1ccf8c79072585acbdeccf08c3ec3cbd3da15ab354ff84ef776b4e5e99fe152e" - }, - "package_hash": { - "sha256": "16232c6523fc127bfa317a8a8bc535248d2df6c30a9e35e51ca9c84eb3276603" - } -} diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBRBase.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR_ClearCoat.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/aux_definitions.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/core_definitions.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/license.txt b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/support_definitions.mdl b/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/mujoco.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/mujoco.usda deleted file mode 100644 index a37bf34b4351c6f908de66f8606ca20885b647ba..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,263 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_1300" -{ - over "world" - { - over "joint_w" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint_1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J1" - { - over "joint_2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J2" - { - over "joint_3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J3" - { - over "joint_4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J4" - { - over "joint_5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J5" - { - over "joint_6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J6" - { - over "joint_tcp_fixed" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg6_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physics.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physics.usda deleted file mode 100644 index 3be9ba5fbb31dbd255aaec75e8bbb6a56d67d212..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physics.usda +++ /dev/null @@ -1,636 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "cobotta_pro_1300" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "joint_w" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint_1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 34.64989 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 69299.78 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (2.7284708e-10, 1.3249582e-11, 0.0024680665) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint_2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 39.58488 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 79169.766 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.22) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (1.3822823e-7, 0.021232193, 0.0024680672) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (-7.386821e-13, -1.3974331e-12, 8.916391e-20) - - def PhysicsRevoluteJoint "joint_3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 268.9445 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 537889 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.71) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (2.4390482e-7, 0.037161797, 0.0024680665) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.000263106, -2.6250608e-9, 7.529916e-9) - - def PhysicsRevoluteJoint "joint_4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 51.470253 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 102940.5 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.05, -0.93) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-4.0471058e-9, 0.037161797, 0.007137848) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (-0.00033793465, 3.4636507e-9, -2.3572937e-8) - - def PhysicsRevoluteJoint "joint_5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 39.90229 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 79804.58 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.05, 1.52) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (2.240541e-8, 0.038610484, 0.007137848) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.0006417024, -6.425707e-9, 2.6624393e-8) - - def PhysicsRevoluteJoint "joint_6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 35.397015 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 70794.03 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.1, 0.16) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (2.340288e-8, 0.038610484, 0.007120195) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.00073706516, -7.3689295e-9, 3.123826e-8) - - def PhysicsFixedJoint "joint_tcp_fixed" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg6_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (2.340288e-8, 0.038610484, 0.007120195) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - vector3f physics:velocity = (0.00073706516, -7.3689295e-9, 3.123826e-8) - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 34.559498 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 69119 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.024112, 0.136813) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 17.453293 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.01272, 0.1595) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 17.453293 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.01272, 0.1595) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 17.453293 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.024112, 0.136813) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.001196937, 0.038610496, 0.007120128) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.00083225704, -8.424632e-9, 3.646527e-8) - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 17.453293 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.047335, 0.064495) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.0011964187, 0.038610496, 0.007120128) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.00088160136, 0.0000013370804, 0.0000010263208) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-5.212868e-8, 0.038610484, 0.007120195) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.0008461299, -8.564809e-9, 3.7152468e-8) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-5.489869e-8, 0.038610484, 0.007120195) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.00084296835, -8.507107e-9, 3.6855397e-8) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.001199663, 0.038610462, 0.007120268) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.0008262645, -8.315263e-9, 3.5902207e-8) - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 17.453293 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.047335, 0.064495) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.0011995977, 0.038610462, 0.007120268) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.00086384354, -0.0000013692552, 0.0000010280687) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physx.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physx.usda deleted file mode 100644 index b5bba7d6bd8ff14565fba9611e4671a3b80cbc7b..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/Physics/physx.usda +++ /dev/null @@ -1,165 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_1300" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base_link" - { - over "joint_1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J1" - { - over "joint_2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J2" - { - over "joint_3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J3" - { - over "joint_4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J4" - { - over "joint_5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J5" - { - over "joint_6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "onrobot_rg6_base_link" - { - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:gearing = -1 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:gearing = -1 - rel physxMimicJoint:rotX:referenceJoint = - } - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/base.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/base.usda deleted file mode 100644 index 2ab52a721ea0aadfda28a5c705563e586ce6e08c..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/base.usda +++ /dev/null @@ -1,459 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "cobotta_pro_1300" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J1" - { - quatd xformOp:orient = (0.9999999999948294, -7.052017952314611e-9, -1.0404821663993073e-8, -0.0000032157620238250975) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J2" - { - quatd xformOp:orient = (0.9999999998747489, -2.418892400202836e-8, -0.000015477957322150874, -0.0000033067412350193337) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-4.605681169778109e-9, 1.2517162417680083e-8, 0.22000013291835785) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J3" - { - quatd xformOp:orient = (0.9999999996092371, -1.899593551825981e-8, -0.00002776598821438609, -0.0000032519640985473014) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00002198357105953619, 3.381866520157928e-8, 0.9300004243850708) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J4" - { - quatd xformOp:orient = (0.9999999995726505, -2.6432238709821734e-8, -0.00002774595951691296, -0.000009211949299615985) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.00002933601354015991, -0.05000003054738045, -5.960464477539063e-8) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J5" - { - quatd xformOp:orient = (0.9999999995408136, -2.889856807784052e-8, -0.000028867131849083755, -0.000009222828995550733) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.000054090298363007605, 7.078051567077637e-8, 1.52000093460083) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J6" - { - quatd xformOp:orient = (0.9999999995403356, -1.136140905345604e-8, -0.000028886107850985295, -0.000009215285085595104) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00006148754619061947, 0.10000008344650269, 1.680000901222229) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg6_base_link" - { - quatd xformOp:orient = (0.9999999995403256, -1.1342423323897838e-8, -0.000028886022293307436, -0.000009216637483571476) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00006148754619061947, 0.10000008344650269, 1.680000901222229) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.9999999995398013, 0.0000010257464658199549, -0.000028886603726100275, -0.000009214623327444102) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00006983580533415079, 0.07588805258274078, 1.8168139457702637) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.9999999995397958, 0.0000010533368724648935, -0.000028886137278159124, -0.000009213575338502534) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00007443419599439949, 0.028552912175655365, 1.881308913230896) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.9999999995403277, 1.0431733613448901e-8, -0.000028885958944821105, -0.000009216608229340531) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00007093654130585492, 0.08728008717298508, 1.839500904083252) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (0.000009260489592639516, -0.00002888610468779683, 7.175805191191092e-8, 0.9999999995399156) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0000704677077010274, 0.11272010207176208, 1.839500904083252) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.000009172592744398964, -0.0000288856646869084, 0.0000010546644818803616, 0.9999999995401849) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00006894697435200214, 0.12411211431026459, 1.8168139457702637) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.000009174458669813063, -0.000028884969638417244, 0.0000010599105730435762, 0.9999999995401821) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00007180427201092243, 0.1714472621679306, 1.881308913230896) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/geometries.usd b/denso_cobottapro1300_cobotta_pro_1300/payloads/geometries.usd deleted file mode 100644 index 97db1f5f8b2f9832ff723fd4e555c5e2b2e470d9..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8a0634585ea290a5eb751ad85757271b2288837959cbb9b436e23d0c60387401 -size 3993003 diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda deleted file mode 100644 index a2e5902d2306d5df756bba0c1d23436424414c72..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/instances.usda +++ /dev/null @@ -1,696 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(1, 1, 1)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20_1: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(1, 1, 1)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20_1: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.752941, 0.752941, 0.752941)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_blinn20: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.1, 0.1, 0.1)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_191919: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - color3f[] primvars:displayColor = [(0.8, 0.8, 0.8)] ( - colorSpace = "lin_rec709_scene" - customData = { - dictionary simready = { - string displayColorSource = "material_CCCCCC: UsdPreviewSurface diffuseColor constant" - } - } - interpolation = "constant" - ) - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda deleted file mode 100644 index 7cd7ed7a466531ef4f66925333c2b9752cad5a0c..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/materials.usda +++ /dev/null @@ -1,250 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_blinn20" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.752941, 0.752941, 0.752941) - color3f inputs:emissive_color = (0.023529, 0.023529, 0.023529) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_blinn20_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - color3f inputs:emissive_color = (0.04, 0.04, 0.04) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/payloads/robot.usda b/denso_cobottapro1300_cobotta_pro_1300/payloads/robot.usda deleted file mode 100644 index a926c9f2d39fc2647b36ccc79d69e8367f9841cf..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/payloads/robot.usda +++ /dev/null @@ -1,424 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_1300" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "joint_w" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "joint_1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_tcp_fixed" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg6_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/mujoco.usda b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/mujoco.usda deleted file mode 100644 index 5f63ae6943262ea6704a36b8b6f0a008ec252f19..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/mujoco.usda +++ /dev/null @@ -1,410 +0,0 @@ -#usda 1.0 -( - defaultPrim = "cobotta_pro_1300" -) - -def "cobotta_pro_1300" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_cobotta_pro_1300_base_link_joint_1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -3970584.9868048364, -1985.2925091391742] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_J1_joint_2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4536093.435352404, -2268.0466040218544] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_J2_joint_3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -30818769.54651234, -15409.38411580948] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_J3_joint_4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -5898056.190966451, -2949.0282668390114] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_J4_joint_5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4572465.5123845525, -2286.2328296304704] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_J5_joint_6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4056199.2053422597, -2028.0995449696918] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_1300_onrobot_rg6_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -3960226.984164737, -1980.1133679368502] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda deleted file mode 100644 index 5e2851292ceec44fe63cd99ceb902d431cc0c0b7..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/newton.usda +++ /dev/null @@ -1,387 +0,0 @@ -#usda 1.0 -( - defaultPrim = "cobotta_pro_1300" -) - -over "cobotta_pro_1300" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "joint_w" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - float physics:lowerLimit = -200 - float physics:upperLimit = 200 - } - } - - over "J1" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 350 - float drive:angular:physics:stiffness = 500 - float newton:damping = 6.955117 - float newton:velocityLimit = 57.29578 - } - } - - over "J2" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J3" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - float physics:lowerLimit = -150 - float physics:upperLimit = 150 - } - } - - over "J4" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J5" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - float physics:lowerLimit = -170 - float physics:upperLimit = 170 - } - } - - over "J6" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - float3 physics:diagonalInertia = (0.001, 0.001, 0.001) - - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 19.2 - float drive:angular:physics:stiffness = 6.2832 - float newton:damping = 0.20944 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda b/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda deleted file mode 100644 index 0b97b736655e8aba34e547905d9eef43622120c4..0000000000000000000000000000000000000000 --- a/denso_cobottapro1300_cobotta_pro_1300/runnables/physics/physx.usda +++ /dev/null @@ -1,368 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_1300" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_1300" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - over "joint_w" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.00036950686 - float state:angular:physics:velocity = 0.0024680663 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "J1" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.0017718695 - float state:angular:physics:velocity = 0.021232184 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "J2" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.0014088966 - float state:angular:physics:velocity = 0.015929602 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "J3" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physics:lowerLimit = -220 - float physics:upperLimit = 220 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.0006828282 - float state:angular:physics:velocity = 0.004669779 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "J4" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.0001276916 - float state:angular:physics:velocity = 0.0014486824 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "J5" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = 0.0000017366441 - float state:angular:physics:velocity = -0.000017651531 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - float3 physics:diagonalInertia = (0.001, 0.001, 0.001) - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float state:angular:physics:position = -0.000120430406 - float state:angular:physics:velocity = 0.0011970663 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 7.581299e-9 - float state:angular:physics:velocity = -7.553153e-8 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = -7.859843e-9 - float state:angular:physics:velocity = 7.8301575e-8 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0.00012030155 - float state:angular:physics:velocity = -0.0011995337 - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = -1.4611061e-10 - float state:angular:physics:velocity = 0.0000036318731 - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 1.4329441e-8 - float state:angular:physics:velocity = 0.0000013184534 - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "J6" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_benchmark.json b/denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_benchmark.json deleted file mode 100644 index ee55733a03a22d27c834a9794afb4723d40ce21c..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/.metadata/cobotta_pro_900_benchmark.json +++ /dev/null @@ -1,22764 +0,0 @@ -{ - "schema_version": "1.0", - "asset": "cobotta_pro_900", - "run_timestamp": "2026-10-31T20:07:08.573916+00:00", - "passed": false, - "results": [ - { - "test_name": "culling_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.047, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.705, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 106.56, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.11, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.000265, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 3.3e-05, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 180.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "culling_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 15.703, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.843, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 240.19, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.813, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.922, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 30, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.266, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 180.86, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.735, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 15622, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 15734, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.0802, - 0.0802, - 0.0801 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.000256, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 39.75, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 30, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 2.188, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 312.57, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.718, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 15618, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 15737, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.0802, - 0.0802, - 0.0801 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.00032, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "drive_gain_validation", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.094, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 7, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.922, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 131.71, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.594, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 68355.7109375, - "damping": 34.177852630615234, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.523959325316906, - "start": 0.0003605497186072171, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 36, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 76145.71875, - "damping": 38.07285690307617, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5225385564659574, - "start": -0.0010602191323414445, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 43, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 252285.65625, - "damping": 126.14282989501953, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5229890965089053, - "start": -0.0006096790893934667, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 42, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 88625.078125, - "damping": 44.312538146972656, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5240228678263575, - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/J6", - 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"position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.6283190250396729, - "runtime_upper": 0.6283190250396729, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 620.969, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 116.0875, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 27861, - "planned_nominal_ticks_estimate": 27861, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 620.8439999999246, - "setup_elapsed_wall_seconds": 1.8119999999180436, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 2739.1560000000754, - "observed_service_seconds_per_nominal_tick": 0.02221858511898376, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 571.730999993626, - "attempts": 27861 - }, - "captures": { - "wall_seconds": 6.5310000001918525, - "attempts": 225 - }, - "bounds": { - "wall_seconds": 14.909000001149252, - "attempts": 1357 - }, - "camera": { - "wall_seconds": 1.9120000004768372, - "attempts": 26865 - }, - "optional_motion": { - "wall_seconds": 4.840000001015142, - "attempts": 27853 - }, - "commands": { - "wall_seconds": 8.228000002913177, - "attempts": 27621 - }, - "encoding": { - "wall_seconds": 7.343999999924563, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.09374606604533497, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint_1", - "segment": "to_max", - "requested_start": 0.00036054974771104753, - "observed_start": 0.00036054974771104753, - "ramp_seconds": 4.9625, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012748038299501994 - }, - { - "joint": "joint_1", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.513274669647217, - "ramp_seconds": 9.675, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - 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"rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1209, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 350.0, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.83972430229187, - "runtime_upper": 3.83972430229187, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1209, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1024, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 1209, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.6283190250396729, - "runtime_upper": 0.6283190250396729, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.282, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 1.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.422, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 1.11, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 2.312, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Denso/CobottaPro900/cobotta_pro_900/simready_usd/cobotta_pro_900.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descript [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 4.296, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Denso/CobottaPro900/cobotta_pro_900/simready_usd/cobotta_pro_900.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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}, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 121.422, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.922, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 198.27, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.391, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint_1_rot_deg": { - "value": 179.988, - "unit": null - }, - "jm_joint_joint_1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_m": { - "value": 0.2891, - "unit": null - }, - "jm_joint_joint_1_translation_stage_units": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_stage_units": { - "value": 0.28911001157654376, - "unit": null - }, - "jm_joint_joint_1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_1_pct_of_travel": { - "value": 66.7, - "unit": null - }, - "jm_joint_joint_1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_2_rot_deg": { - "value": 147.687, - "unit": null - }, - "jm_joint_joint_2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_2_bbox_m": { - "value": 0.6843, - "unit": null - }, - "jm_joint_joint_2_translation_stage_units": { - "value": 3.933905850627021e-08, - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_stage_units": { - "value": 0.6842642544771566, - "unit": null - }, - "jm_joint_joint_2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_2_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_3_rot_deg": { - "value": 147.703, - "unit": null - }, - "jm_joint_joint_3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_3_bbox_m": { - "value": 0.4205, - "unit": null - }, - "jm_joint_joint_3_translation_stage_units": { - "value": 1.149781830096045e-07, - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_stage_units": { - "value": 0.4205289622047044, - "unit": null - }, - "jm_joint_joint_3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_3_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_4_rot_deg": { - "value": 179.962, - "unit": null - }, - "jm_joint_joint_4_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_4_bbox_m": { - "value": 0.2115, - "unit": null - }, - "jm_joint_joint_4_translation_stage_units": { - "value": 1.3860287391418376e-07, - "unit": null - }, - "jm_joint_joint_4_bbox_diagonal_stage_units": { - "value": 0.21154897581682514, - "unit": null - }, - "jm_joint_joint_4_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_4_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_4_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_4_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_4_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_4_pct_of_travel": { - "value": 81.8, - "unit": null - }, - "jm_joint_joint_4_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_5_rot_deg": { - "value": 147.702, - "unit": null - }, - "jm_joint_joint_5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_5_bbox_m": { - "value": 0.2021, - "unit": null - }, - "jm_joint_joint_5_translation_stage_units": { - "value": 2.732622064379848e-07, - "unit": null - }, - "jm_joint_joint_5_bbox_diagonal_stage_units": { - "value": 0.20209528288309395, - "unit": null - }, - "jm_joint_joint_5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_5_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint_5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint_6_rot_deg": { - "value": 179.984, - "unit": null - }, - "jm_joint_joint_6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint_6_bbox_m": { - "value": 0.159, - "unit": null - }, - "jm_joint_joint_6_translation_stage_units": { - "value": 1.2084224000531734e-07, - "unit": null - }, - "jm_joint_joint_6_bbox_diagonal_stage_units": { - "value": 0.15902730597878262, - "unit": null - }, - "jm_joint_joint_6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint_6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint_6_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint_6_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint_6_pct_of_travel": { - "value": 50.0, - "unit": null - }, - "jm_joint_joint_6_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_finger_joint_rot_deg": { - "value": 34.66, - "unit": null - }, - "jm_joint_finger_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_finger_joint_bbox_m": { - "value": 0.1132, - "unit": null - }, - "jm_joint_finger_joint_translation_stage_units": { - "value": 7.242423469313862e-08, - "unit": null - }, - "jm_joint_finger_joint_bbox_diagonal_stage_units": { - "value": 0.11323134985263135, - "unit": null - }, - "jm_joint_finger_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_finger_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_finger_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_finger_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_finger_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_finger_joint_pct_of_travel": { - "value": 96.3, - "unit": null - }, - "jm_joint_finger_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_rot_deg": { - "value": 35.145, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_bbox_m": { - "value": 0.0991, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_translation_stage_units": { - "value": 9.868723844595962e-08, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_bbox_diagonal_stage_units": { - "value": 0.09914204651043101, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_pct_of_travel": { - "value": 97.6, - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_rot_deg": { - "value": 35.145, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_bbox_m": { - "value": 0.0991, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_translation_stage_units": { - "value": 8.548409206757788e-08, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_bbox_diagonal_stage_units": { - "value": 0.09914192423132052, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_pct_of_travel": { - "value": 97.6, - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_rot_deg": { - "value": 35.144, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_bbox_m": { - "value": 0.1132, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_translation_stage_units": { - "value": 7.473686301318168e-08, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_bbox_diagonal_stage_units": { - "value": 0.11323120954455188, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_pct_of_travel": { - "value": 97.6, - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_left_inner_finger_joint_rot_deg": { - "value": 49.173, - "unit": null - }, - "jm_joint_left_inner_finger_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_left_inner_finger_joint_bbox_m": { - "value": 0.0829, - "unit": null - }, - "jm_joint_left_inner_finger_joint_translation_stage_units": { - "value": 8.425358563609252e-08, - "unit": null - }, - "jm_joint_left_inner_finger_joint_bbox_diagonal_stage_units": { - "value": 0.08285223827277614, - "unit": null - }, - "jm_joint_left_inner_finger_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_left_inner_finger_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_left_inner_finger_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_left_inner_finger_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_left_inner_finger_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_left_inner_finger_joint_pct_of_travel": { - "value": 98.3, - "unit": null - }, - "jm_joint_left_inner_finger_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_right_inner_finger_joint_rot_deg": { - "value": 49.173, - "unit": null - }, - "jm_joint_right_inner_finger_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_right_inner_finger_joint_bbox_m": { - "value": 0.0829, - "unit": null - }, - "jm_joint_right_inner_finger_joint_translation_stage_units": { - "value": 8.748735842374091e-08, - "unit": null - }, - "jm_joint_right_inner_finger_joint_bbox_diagonal_stage_units": { - "value": 0.08285218042931991, - "unit": null - }, - "jm_joint_right_inner_finger_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_inner_finger_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_right_inner_finger_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_right_inner_finger_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_right_inner_finger_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_right_inner_finger_joint_pct_of_travel": { - "value": 98.3, - "unit": null - }, - "jm_joint_right_inner_finger_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 12, - "unit": null - }, - "jm_joints_passed": { - "value": 12, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_joint_1_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint_2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint_3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint_4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint_5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint_6_status": { - "value": "passed", - "unit": null - }, - "jm_joint_finger_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_left_inner_knuckle_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_right_inner_knuckle_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_right_outer_knuckle_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_left_inner_finger_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_right_inner_finger_joint_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - 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}, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint_2", - "authored_joint_name": "joint_2", - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "child_body_path": "/World/AssetRoot/Asset/J2", - "parent_body_path": "/World/AssetRoot/Asset/J1", - "reference_frame": "/World/AssetRoot/Asset/J1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - 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} - }, - "metadata": { - "joint_name": "joint_3", - "authored_joint_name": "joint_3", - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "child_body_path": "/World/AssetRoot/Asset/J3", - "parent_body_path": "/World/AssetRoot/Asset/J2", - "reference_frame": "/World/AssetRoot/Asset/J2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint_4", - "authored_joint_name": "joint_4", - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "child_body_path": "/World/AssetRoot/Asset/J4", - "parent_body_path": "/World/AssetRoot/Asset/J3", - "reference_frame": "/World/AssetRoot/Asset/J3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint_5", - "authored_joint_name": "joint_5", - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "child_body_path": "/World/AssetRoot/Asset/J5", - "parent_body_path": "/World/AssetRoot/Asset/J4", - "reference_frame": "/World/AssetRoot/Asset/J4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint_6", - "authored_joint_name": "joint_6", - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "child_body_path": "/World/AssetRoot/Asset/J6", - "parent_body_path": "/World/AssetRoot/Asset/J5", - "reference_frame": "/World/AssetRoot/Asset/J5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "finger_joint", - "authored_joint_name": "finger_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg6_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.36, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.565, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 118.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.36, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.931091, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.017196, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 16.219, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.857, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 128.57, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.765, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.932233, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.020065, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.532, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.904, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 580.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 5, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 15765, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 30.156, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 518.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 5, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 15763, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 58.672, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 5, - "unit": null - }, - "mim_skipped_pairs": { - "value": 0, - "unit": null - }, - "mimic_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.438, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 71.9, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.86, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_max_error_rad": { - "value": 0.016404347286936627, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_mean_error_rad": { - "value": 0.0034012360699706423, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_ref_swept_rad": { - 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"dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_003.json", - "csv": "motion_history/mim_reference_003.csv" - }, - "unit": null - }, - "motion_history_mim_follower_003": { - "value": { - "schema_version": 1, - "name": "mim_follower_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_003.json", - "csv": "motion_history/mim_follower_003.csv" - }, - "unit": null - }, - "motion_history_mim_reference_004": { - "value": { - "schema_version": 1, - "name": "mim_reference_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_004.json", - "csv": "motion_history/mim_reference_004.csv" - }, - "unit": null - }, - "motion_history_mim_follower_004": { - "value": { - "schema_version": 1, - "name": "mim_follower_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_004.json", - "csv": "motion_history/mim_follower_004.csv" - }, - "unit": null - }, - "motion_history_mim_reference_005": { - "value": { - "schema_version": 1, - "name": "mim_reference_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_005.json", - "csv": "motion_history/mim_reference_005.csv" - }, - "unit": null - }, - "motion_history_mim_follower_005": { - "value": { - "schema_version": 1, - "name": "mim_follower_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_005.json", - "csv": "motion_history/mim_follower_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 70.516, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 12, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 965, - "hold_frames": 1440, - "total_frames": 2405, - "ramp_seconds": 4.020833333333333, - "hold_seconds": 6.0, - "observation_seconds": 10.020833333333334, - "joints": [ - { - "name": "joint_1", - "index": 0, - "displacement": 1.5083250272867734, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5626912018893663, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0011653937176414088 - }, - { - "name": "joint_2", - "index": 1, - "displacement": 0.8366977306967602, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.31213594098531994, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0006464669492840455 - }, - { - "name": "joint_3", - "index": 2, - "displacement": 0.8371482707397082, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.3123040180997876, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0006468150549814641 - }, - { - "name": "joint_4", - "index": 3, - "displacement": 1.2291358689905612, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.45853773350943217, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0009496807345469975 - }, - { - "name": "joint_5", - "index": 4, - "displacement": 0.8376801256043838, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.3125024302772831, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.000647225987841951 - }, - { - "name": "joint_6", - "index": 5, - "displacement": 2.0106193539460175, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7500756139073226, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015534868952429214 - }, - { - "name": "finger_joint", - "index": 6, - "displacement": 0.20106137023997012, - "velocity_hint": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.07500735055584379, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0001553482528626673 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 913 - }, - { - "ramp_frames": 1410, - "hold_frames": 1440, - "total_frames": 2850, - "ramp_seconds": 5.875, - "hold_seconds": 6.0, - "observation_seconds": 11.875, - "joints": [ - { - "name": "joint_1", - "index": 0, - "displacement": 2.2492801475524904, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5742842929921252, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0008142025017932042 - }, - { - "name": "joint_2", - "index": 1, - "displacement": 1.249606909751892, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.3190485727026107, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00045233719476733825 - }, - { - "name": "joint_3", - "index": 2, - "displacement": 1.24960613489151, - 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"estimated_command_peak_speed": 0.7657133406781135, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0010856046826823729 - }, - { - "name": "finger_joint", - "index": 6, - "displacement": 0.29990453302860254, - "velocity_hint": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.07657137013496235, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00010856051940066891 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 1347 - }, - { - "ramp_frames": 505, - "hold_frames": 1440, - "total_frames": 1945, - "ramp_seconds": 2.1041666666666665, - "hold_seconds": 6.0, - "observation_seconds": 8.104166666666666, - "joints": [ - { - "name": "joint_1", - "index": 0, - "displacement": 0.7409123182296753, - 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"joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 688, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 688, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 4.562, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.577, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 197.12, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 1, - "unit": null - }, - "_render_blank_retry[normals_xz_006.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.687, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.187, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 273.38, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.094, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 1, - "unit": null - }, - "_render_blank_retry[normals_xz_006.png]": { - "value": "attempts=6 recovered=False", - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 28.859, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.359, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 671.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 5, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 15769, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 25.078, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.906, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 381.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 5, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 15779, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.375, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.744, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 137.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.625, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 13.344, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.623, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 131.15, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.641, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 1.844, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.218, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 109.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.068429, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 2.719, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.22, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 110.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.068368, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.625, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.985, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 397.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "universal_surface_materials_total": { - "value": 5, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 15598, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 23.547, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.422, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 284.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 5, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 5, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 5, - "unit": null - }, - "universal_surface_materials_total": { - "value": 5, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 30, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 15595, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.422, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 1.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.39, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.062, - "unit": null - }, - "_timing_capture_frame_count": { - 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"unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.283199787139893, - "damping": 0.0, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 23.656, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035696274404, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.0, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 10, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 100.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 68355.7109375, - "damping": 34.177852630615234, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 36, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 76145.71875, - "damping": 38.07285690307617, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 25, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J2/joint_3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 252285.65625, - "damping": 126.14282989501953, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 27, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J3/joint_4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 88625.078125, - "damping": 44.312538146972656, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 30, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J4/joint_5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 78851.609375, - "damping": 39.425804138183594, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 38, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J5/joint_6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 70255.90625, - "damping": 35.127952575683594, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 55, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg6_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 68773.9453125, - "damping": 34.3869743347168, - "max_force": 19.200000762939453 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 18.687, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.836035736222859, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.079, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 26, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 41.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.234, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint_1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 39.269901275634766, - "damping": 0.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint_2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/J1/joint_2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 350.0, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - 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"sha256": "14dcd02c9b4e1b0c6d004f9073d9566bfdb04d463cc96cc0e9c561656d8300da" - } - }, - { - "relative_path": "runnables/physics/physx.usda", - "size": 12159, - "hash": { - "sha256-flat-1mb": "da81a7c7992d9f93968a6032af94cd8f895f32ae49cca50a7868f97bf48165e4", - "sha256": "cc68380efaddceccd5abd941cc067f368db3e09a71b89444530978e00f4b314c" - } - } - ] -} \ No newline at end of file diff --git a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.root_usds.json b/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.root_usds.json deleted file mode 100644 index 96610a5cc29732bfb4dfcc8b0648605e4e4ee857..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/.metadata/com.nvidia.simready.root_usds.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "format_version": "1.0", - "entries": [ - "cobotta_pro_900.usda" - ] -} diff --git a/denso_cobottapro900_cobotta_pro_900/.thumbs/256x256/cobotta_pro_900.usda.png b/denso_cobottapro900_cobotta_pro_900/.thumbs/256x256/cobotta_pro_900.usda.png deleted file mode 100644 index 5add0b51e28530b03f2dfb436b7cd774add45220..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/.thumbs/256x256/cobotta_pro_900.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:518b90b2045f09ae1cee08cdeb238609f45f3443695fff3a58fa05e995bfe18f -size 34994 diff --git a/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda b/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda deleted file mode 100644 index 897685aee0345a5e9f19929b2c7fd9b2705f1b88..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/cobotta_pro_900.usda +++ /dev/null @@ -1,1423 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_900" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_900" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/cobotta_pro_900" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.1830609, 0.33302668, 1.5377241) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "cobotta_pro_900" - string asset_type = "robot" - string author = "Denso" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 7.999999992549419 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Denso/CobottaPro900/cobotta_pro_900/cobotta_pro_900.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "cobotta_pro_900" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "J6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg6_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json b/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json deleted file mode 100644 index 69977bbfa12b8eda3a59de2d44a5b1473f77f68e..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.denso_cobottapro900_cobotta_pro_900.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "cobotta_pro_900_benchmark.json", - "hash": { - "sha256": "cba2e291d09972fdf253d5f869ce3cf36bc039b73b5b5ec59875e041962e7cbb" - } - }, - { - "name": "cobotta_pro_900_validation.json", - "hash": { - "sha256": "1c1f7f60b6c95946561d2803fc0cef0ea89bde2ce8b8a92d7dca9146633b1fea" - } - }, - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "bc2c1b99671550e6256d1344ab6cf002f98f52cda834cf1ff021f5cf1830f2c7" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "5d4423bb97ffd62b7e6a76ea1264696072e787f395a9d088e297a0e0e2f50bda" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "fd4c26e5326fc0511f3fb811b763855960cd3cbd98d5778c2804f69ca409f640" - } - } - ], - "content_hash": { - "sha256": "146afecc0955f947436d68d64a5b66c4d42e83644b5ff00ec7f80a157a54498f" - }, - "package_hash": { - "sha256": "0ef699d28a18b4ce3e092de813cbca905b469e1c12e2098487668a09e8394bb8" - } -} diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBRBase.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR_ClearCoat.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/aux_definitions.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/core_definitions.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/license.txt b/denso_cobottapro900_cobotta_pro_900/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/denso_cobottapro900_cobotta_pro_900/materials/mdl/support_definitions.mdl b/denso_cobottapro900_cobotta_pro_900/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/mujoco.usda b/denso_cobottapro900_cobotta_pro_900/payloads/Physics/mujoco.usda deleted file mode 100644 index 35b9b1ee66d8e618cf3d2587a7f8c4c9fe6a3d52..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,263 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_900" -{ - over "world" - { - over "joint_w" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint_1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J1" - { - over "joint_2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J2" - { - over "joint_3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J3" - { - over "joint_4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J4" - { - over "joint_5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J5" - { - over "joint_6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "J6" - { - over "joint_tcp_fixed" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg6_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physics.usda b/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physics.usda deleted file mode 100644 index 2f7af748e55168e0de8c0807b587a77613cd6dbb..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physics.usda +++ /dev/null @@ -1,640 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "cobotta_pro_900" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "joint_w" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint_1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 34.177853 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 68355.71 - float drive:angular:physics:targetPosition = 0.020653246 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - float state:angular:physics:position = 0.020653246 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-2.17091e-9, 2.3782107e-10, -0.02085756) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint_2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 38.072857 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 76145.72 - float drive:angular:physics:targetPosition = -0.060743954 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.21) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = -0.060743954 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.000021864782, 0.060835395, -0.02085756) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (5.46405e-12, 1.6068384e-11, -3.8549866e-19) - - def PhysicsRevoluteJoint "joint_3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 126.14283 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 252285.66 - float drive:angular:physics:targetPosition = -0.03493201 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.51) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = -0.03493201 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.000034415254, 0.095764026, -0.020857574) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.00054150674, 3.9137208e-7, 5.7379646e-7) - - def PhysicsRevoluteJoint "joint_4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 44.31254 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 88625.08 - float drive:angular:physics:targetPosition = 0.0242966 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.03, -0.72) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - float state:angular:physics:position = 0.0242966 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.0000065096037, 0.095764056, -0.04537682) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (-0.0006728194, -4.825403e-7, -0.0000014349057) - - def PhysicsRevoluteJoint "joint_5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 39.425804 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 78851.61 - float drive:angular:physics:targetPosition = -0.0044590333 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.03, 1.11) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - float state:angular:physics:position = -0.0044590333 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.0000030190697, 0.10022793, -0.045376826) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.0012061893, 8.772794e-7, 0.0000017043297) - - def PhysicsRevoluteJoint "joint_6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 35.127953 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 70255.91 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.12, 0.16) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "J6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.0000030355395, 0.10022793, -0.045386232) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 1 - vector3f physics:velocity = (0.0015811154, 0.0000011645731, 0.000002363825) - - def PhysicsFixedJoint "joint_tcp_fixed" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg6_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.0000030355395, 0.10022793, -0.045386232) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - vector3f physics:velocity = (0.0015811154, 0.0000011645731, 0.000002363825) - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 34.386974 - float drive:angular:physics:maxForce = 19.2 - float drive:angular:physics:stiffness = 68773.945 - float drive:angular:physics:targetPosition = -0.00003975191 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.024112, 0.136813) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - float state:angular:physics:position = -0.00003975191 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 174.53294 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 7.8402614e-8 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.01272, 0.1595) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - float state:angular:physics:position = 7.8402614e-8 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 174.53294 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0.0000062076983 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.01272, 0.1595) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - float state:angular:physics:position = 0.0000062076983 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 174.53294 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0.000039446593 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.024112, 0.136813) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -36.000027 - float physics:upperLimit = 36.000027 - float state:angular:physics:position = 0.000039446593 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.00004318781, 0.10022791, -0.045386307) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.001801343, 0.0000013317209, 0.0000027476583) - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 174.53294 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0.0000044355143 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.047335, 0.064495) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0.0000044355143 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-0.0000416288, 0.10022789, -0.045386296) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.0018766684, 0.0000014498918, 0.0000029123082) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.000002832089, 0.10022792, -0.045386232) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.0018500531, 0.0000013689767, 0.0000028331865) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.000002831044, 0.10022792, -0.045386232) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.001870205, 0.0000013847429, 0.0000028693503) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.000048797378, 0.100227974, -0.045386154) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.001839543, 0.0000013616079, 0.0000028162112) - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 174.53294 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 174.53294 - float drive:angular:physics:targetPosition = 0.0000024447927 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.047335, 0.064495) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0.0000024447927 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.00004875717, 0.100227974, -0.045386154) - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - vector3f physics:velocity = (0.00198986, 0.00000143234, 0.0000031153654) - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physx.usda b/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physx.usda deleted file mode 100644 index 01adf8809aabcebeca6eb143d355e671eb808450..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/Physics/physx.usda +++ /dev/null @@ -1,179 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_900" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base_link" - { - over "joint_1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J1" - { - over "joint_2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J2" - { - over "joint_3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J3" - { - over "joint_4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J4" - { - over "joint_5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "J5" - { - over "joint_6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "onrobot_rg6_base_link" - { - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:naturalFrequency = 2500 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/base.usda b/denso_cobottapro900_cobotta_pro_900/payloads/base.usda deleted file mode 100644 index ebe3a837f95c8b078adf7c0886302c4f0f09dac2..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/base.usda +++ /dev/null @@ -1,459 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "cobotta_pro_900" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J1" - { - quatd xformOp:orient = (0.9999999837598215, 1.0622679304251055e-8, -6.056871745994717e-8, 0.00018022306463225636) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J2" - { - quatd xformOp:orient = (0.9999998432155373, 9.333900049072609e-8, -0.0005301816472194993, 0.00018021185629674296) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-2.554588718339801e-8, 2.1967139218759257e-10, 0.21000005304813385) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J3" - { - quatd xformOp:orient = (0.9999996350940275, 1.3336388615868938e-7, -0.0008350724712688763, 0.00018018257930763946) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0005408109282143414, -1.8143143165616493e-7, 0.7199999690055847) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J4" - { - quatd xformOp:orient = (0.9999995744734265, -4.556920757338591e-8, -0.0008350359177198381, 0.0003921326051664268) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0006725044804625213, -0.02999979257583618, 5.364418029785156e-7) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J5" - { - quatd xformOp:orient = (0.9999995411498644, -6.90511184846651e-9, -0.0008740091300479407, 0.00039218375936512335) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0012048007920384407, -4.5262277126312256e-7, 1.109999418258667) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "J6" - { - quatd xformOp:orient = (0.9999995411152378, -2.0125301997327945e-8, -0.0008740151193208953, 0.000392258696010758) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0015786030562594533, 0.11999943107366562, 1.2699991464614868) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg6_base_link" - { - quatd xformOp:orient = (0.9999995411158905, -2.0010302956317034e-8, -0.000874014910874441, 0.0003922574965143486) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0015786030562594533, 0.11999943107366562, 1.2699991464614868) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.999999541114354, 3.7096475862990795e-7, -0.0008740165745423603, 0.0003922575318706856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0017988395411521196, 0.09588733315467834, 1.406812071800232) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.9999995411143046, 3.737877860497657e-7, -0.0008740167031129921, 0.0003922573686635934) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0018744436092674732, 0.04855222627520561, 1.4713070392608643) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.999999541115707, -3.274922869274883e-8, -0.0008740150733399236, 0.00039225760151287393) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0018474346725270152, 0.10727933794260025, 1.4294989109039307) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.0003922133446611087, -0.0008740151813164168, 4.8745045727665274e-8, 0.9999995411329711) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.001867392798885703, 0.13271933794021606, 1.4294989109039307) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (-0.0003922999575950428, -0.0008740144827953463, 3.4096952916379055e-7, 0.9999995410995502) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0018366723088547587, 0.14411135017871857, 1.4068119525909424) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (-0.00039230102921486426, -0.0008740141213246534, 3.4490950092925843e-7, 0.9999995410994443) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.001986550632864237, 0.19144633412361145, 1.4713068008422852) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/geometries.usd b/denso_cobottapro900_cobotta_pro_900/payloads/geometries.usd deleted file mode 100644 index 2ec6cd60cbd10b986c761100e3c13fc228ad5ab5..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:bac1aec3872ef004b23d56b7b91dac93f92c74ee1e31ebea33ec1dbd10da7ee7 -size 4518980 diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda b/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda deleted file mode 100644 index 4d24c10ed3838ad86f97b782f00b2df650a651bb..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/instances.usda +++ /dev/null @@ -1,669 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" - { - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_blinn21" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" - { - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_blinn21" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_blinn20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda b/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda deleted file mode 100644 index 7cd7ed7a466531ef4f66925333c2b9752cad5a0c..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/materials.usda +++ /dev/null @@ -1,250 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_blinn20" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.752941, 0.752941, 0.752941) - color3f inputs:emissive_color = (0.023529, 0.023529, 0.023529) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.752941, 0.752941, 0.752941) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_blinn20_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - color3f inputs:emissive_color = (0.04, 0.04, 0.04) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/payloads/robot.usda b/denso_cobottapro900_cobotta_pro_900/payloads/robot.usda deleted file mode 100644 index c75e7587a64644a060b542b07fde697ebe6053a8..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/payloads/robot.usda +++ /dev/null @@ -1,394 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_900" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "joint_w" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "J6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint_tcp_fixed" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg6_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/runnables/physics/mujoco.usda b/denso_cobottapro900_cobotta_pro_900/runnables/physics/mujoco.usda deleted file mode 100644 index 98ca54a809af0d8bb869c693b4a23c33076cae18..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/runnables/physics/mujoco.usda +++ /dev/null @@ -1,410 +0,0 @@ -#usda 1.0 -( - defaultPrim = "cobotta_pro_900" -) - -def "cobotta_pro_900" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint_6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "J6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_cobotta_pro_900_base_link_joint_1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [1411.7673114878853, -3916493.74233499, -1958.246708554351] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_J1_joint_2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-4625.392039533821, -4362828.312365179, -2181.4140145517867] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_J2_joint_3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-8812.845035641221, -14454903.33481328, -7227.451768821288] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_J3_joint_4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [2153.288106104883, -5077842.935579696, -2538.921415333995] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_J4_joint_5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-351.6019483766504, -4517864.425001695, -2258.932181027336] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_J5_joint_6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4025366.9139917823, -2012.6834255223794] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_cobotta_pro_900_onrobot_rg6_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-2.733895729986955, -3940456.8068697816, -1970.2284996039543] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 19.200000762939453 - double mjc:forceRange:min = -19.200000762939453 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda b/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda deleted file mode 100644 index 9f2cbce19c98bc3bfb650e30884d46f080ea59ed..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/runnables/physics/newton.usda +++ /dev/null @@ -1,382 +0,0 @@ -#usda 1.0 -( - defaultPrim = "cobotta_pro_900" -) - -over "cobotta_pro_900" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "joint_w" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J1" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 200 - float drive:angular:physics:stiffness = 350 - float newton:damping = 4.65 - float newton:velocityLimit = 57.29578 - } - } - - over "J2" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J3" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - float physics:lowerLimit = -220 - float physics:upperLimit = 220 - } - } - - over "J4" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J5" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "joint_6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 39.2699 - float newton:damping = 1.308997 - float newton:velocityLimit = 57.29578 - } - } - - over "J6" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - float3 physics:diagonalInertia = (0.001, 0.001, 0.001) - - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.2832 - float newton:damping = 0.20944 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform int newton:maxHullVertices = 64 - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda b/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda deleted file mode 100644 index 6330cb16a4be6b2ce3cf190d276ed5a14a86baa2..0000000000000000000000000000000000000000 --- a/denso_cobottapro900_cobotta_pro_900/runnables/physics/physx.usda +++ /dev/null @@ -1,380 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "cobotta_pro_900" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "cobotta_pro_900" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - over "joint_w" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = 0.020653246 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = 0.020653246 - float state:angular:physics:velocity = -0.02085756 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "J1" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = -0.060743954 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.060743954 - float state:angular:physics:velocity = 0.060835388 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "J2" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = -0.03493201 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.03493201 - float state:angular:physics:velocity = 0.03492862 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "J3" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = 0.0242966 - float physics:lowerLimit = -220 - float physics:upperLimit = 220 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = 0.0242966 - float state:angular:physics:velocity = -0.024519268 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "J4" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = -0.0044590333 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = -0.0044590333 - float state:angular:physics:velocity = 0.004463906 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "J5" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "joint_6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = -0.000009410951 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg6_base_link" - { - float3 physics:diagonalInertia = (0.001, 0.001, 0.001) - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:targetPosition = -0.00003975191 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float state:angular:physics:position = -0.00003975191 - float state:angular:physics:velocity = 0.000043888085 - } - - over "left_inner_knuckle_joint" ( - apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 7.8402614e-8 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 7.8402614e-8 - float state:angular:physics:velocity = -2.034527e-7 - } - - over "right_inner_knuckle_joint" ( - apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0.0000062076983 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0.0000062076983 - float state:angular:physics:velocity = 2.0447744e-7 - } - - over "right_outer_knuckle_joint" ( - apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0.000039446593 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0.000039446593 - float state:angular:physics:velocity = -0.00013317462 - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "left_inner_finger_joint" ( - apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0.0000044355143 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0.0000044355143 - float state:angular:physics:velocity = -0.018090386 - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "right_inner_finger_joint" ( - apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0.0000024447927 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 50 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0.0000024447927 - float state:angular:physics:velocity = 0.027371526 - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "J6" - { - float3 physics:diagonalInertia = (0.01, 0.01, 0.01) - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" - { - float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001) - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } -} - diff --git a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 67dba68c7fb775b72b07f3d9d4e6d1635692dfb2..8f08a656b82861cdc66b0c10ac6a87fdf1c30908 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:23", + "timestamp": "2026-11-03T23:31:31", "assets": [ { "asset": "cr_50f_16b.usda", diff --git a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 6bde09d2716f3a5f310b51c24e31221133205397..9f59802e73047a82348801cad2d4d96b6e8bb603 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:25", + "timestamp": "2026-11-03T23:31:33", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json index 400c689952309b6c9cb8329d6c1e2bd0b66adc96..c3d9892d21e5c8685043a73b68cf3cbd37d0aff2 100644 --- a/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_cr_50f_16b/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_cr_50f_16b/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_cr_50f_16b/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/cr_50f_16b.usda.png", diff --git a/fanuc_cr_50f_16b/.metadata/cr_50f_16b_benchmark.json b/fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_benchmark.json similarity index 99% rename from fanuc_cr_50f_16b/.metadata/cr_50f_16b_benchmark.json rename to fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_benchmark.json index 1fb1c0e16bec74c7796c2b60709685b7f060ed27..3eff1694970decc2f3a960596acea9560407285f 100644 --- a/fanuc_cr_50f_16b/.metadata/cr_50f_16b_benchmark.json +++ b/fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "cr_50f_16b", + "asset": "fanuc_cr_50f_16b", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_cr_50f_16b/.metadata/cr_50f_16b_validation.json b/fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_validation.json similarity index 97% rename from fanuc_cr_50f_16b/.metadata/cr_50f_16b_validation.json rename to fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_validation.json index 5f7d5b58dde2f5e3d5f6619f53c7cd51da4c421d..ed53a0765ce7fafa79dc4dc82223cfc4c5cb42be 100644 --- a/fanuc_cr_50f_16b/.metadata/cr_50f_16b_validation.json +++ b/fanuc_cr_50f_16b/.metadata/fanuc_cr_50f_16b_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json b/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json index 340ba68515304f54588593b1c3ffb9ff72d19d88..1c2385d42a3ca0fed4f19253ed4debdf6793134e 100644 --- a/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json +++ b/fanuc_cr_50f_16b/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_cr_50f_16b.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_cr_50f_16b.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "bade6ca0b3733960ac991f8c483e45ef4aa8ee97c709ec7ecc73cc89e39259c0" + "sha256": "fa7e570a48320bb0f6e235acb521aa9b2451f8af5ed01b73ee78b7b1b4149217" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f2462fe30f31a850b6e191745db50c67c73e84d80fe5b4d2c168d9644f900b3e" + "sha256": "b9d34f387362935d0786b1009e0beb62946ffd1e01c3ca8997b6c942edfd801a" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "cr_50f_16b_benchmark.json", + "name": "fanuc_cr_50f_16b_benchmark.json", "hash": { - "sha256": "59530b3c909eadf776fd41e3e378c0160cf9ba27a6a6c35511fdfad61dee687b" + "sha256": "90bb9a0bd0482bdbcf7aa865c2e1a1e00e36a631e56fffbf8c0b6f4235ab9114" } }, { - "name": "cr_50f_16b_validation.json", + "name": "fanuc_cr_50f_16b_validation.json", "hash": { - "sha256": "5387ceb3ef0426b0cc02c58656c24b44af5110382661e155433894005bf3c969" + "sha256": "521fd136dd7eeb00e535155e990e1b003a599e93dd05f3d6630b57be2b6d726b" } }, { @@ -44,6 +44,6 @@ "sha256": "0753f2b88901d54c526172d790507d09dc518ab6f09803929bc5ea8a8a18ebc4" }, "package_hash": { - "sha256": "9e05628bd026eb74c913a8086d55cc7e67d6fd288fe16b439547ac244c93eb72" + "sha256": "07f3cdd29814bd85581d8c368f36847652453db5aaf42d520caed7f77e57508b" } } diff --git a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 59c3505976e16a909b36f8ad1daba1698db7d535..1ee6a657fba70391d2292252479be7b37734379c 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:27", + "timestamp": "2026-11-03T23:31:34", "assets": [ { "asset": "crx10ia.usda", diff --git a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9053ddf8179873959d6ef507e05cf1e908919080..e1f533a5696f2124dab83ec3f583663c71c90ece 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx10ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:30", + "timestamp": "2026-11-03T23:31:36", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json index 650812c2c2e0cf094ae854f8d33890b5ec3c9974..8e82a01b8ec95a77dfbf7c405420389d0cf8c97d 100644 --- a/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx10ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx10ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx10ia.usda.png", diff --git a/fanuc_crx10ia/.metadata/crx10ia_benchmark.json b/fanuc_crx10ia/.metadata/fanuc_crx10ia_benchmark.json similarity index 99% rename from fanuc_crx10ia/.metadata/crx10ia_benchmark.json rename to fanuc_crx10ia/.metadata/fanuc_crx10ia_benchmark.json index 2f10462b068ed79b3ef238e86a08713479afe9ae..1ac2184af92baa22f46438b985869a07cc1dd717 100644 --- a/fanuc_crx10ia/.metadata/crx10ia_benchmark.json +++ b/fanuc_crx10ia/.metadata/fanuc_crx10ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx10ia", + "asset": "fanuc_crx10ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx10ia/.metadata/crx10ia_validation.json b/fanuc_crx10ia/.metadata/fanuc_crx10ia_validation.json similarity index 97% rename from fanuc_crx10ia/.metadata/crx10ia_validation.json rename to fanuc_crx10ia/.metadata/fanuc_crx10ia_validation.json index d405f0857afe08975d32527d85cdf30137eb292b..dc2fb9bb95103daead1b13f0236442634afd1df9 100644 --- a/fanuc_crx10ia/.metadata/crx10ia_validation.json +++ b/fanuc_crx10ia/.metadata/fanuc_crx10ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx10ia/com.nvidia.simready.packaging.json b/fanuc_crx10ia/com.nvidia.simready.packaging.json index 6e47bf5346848ab3ce0624c8840f7eb5b92382f0..7e99299fbbb5e48154bc34b7f052ce033119cde7 100644 --- a/fanuc_crx10ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a9835685ad6116ac2463b6956d5aaa082df1ef88087d5a3fba0498a9507689bf" + "sha256": "8296e974fc6899d3a9d2eef27e280f1dc0fba9ac607f9a59427942d4bd547ad4" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "19b30e1f533d8dd8da60fa9a3900ac393ebd43ac7011a5f6b4c3870b945f23c4" + "sha256": "9ca10c660d8ff045da8bcd3099b95456a1babf02658f330783c89cf3efd35ccb" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx10ia_benchmark.json", + "name": "fanuc_crx10ia_benchmark.json", "hash": { - "sha256": "e5db2d61a7d997fec533b869b719d7d22ddca166aa97f977822eff66351748c1" + "sha256": "569683b7de28d2817b2720d231a026942a6a0ce461580f605a1472e83b381217" } }, { - "name": "crx10ia_validation.json", + "name": "fanuc_crx10ia_validation.json", "hash": { - "sha256": "74828f9e310005262372cc8d30d558b0b6b22d033c5ee441ca73444677c589ff" + "sha256": "f56dc8a9a4ef35d21df17e670cd114b29f23da58e04523f7064541925b64442f" } }, { @@ -44,6 +44,6 @@ "sha256": "76f32cfe8c1d6470fd25325fb5ec1ea231f8a08f4388dbdd0c50b007af07e4da" }, "package_hash": { - "sha256": "972831e464ed35e725169bf7ebee6a6ae49a65ae23b8e98b739a5161455f3bfa" + "sha256": "5e5a7535bc3a3d79483f7fe1928fad1677044de422941425623dca81ffcc4d67" } } diff --git a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 47bc3074505078d4432849c4c783add72f299015..3abe7d9d32b5fc47dedd9d2b7fc0202704d7cd03 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:31", + "timestamp": "2026-11-03T23:31:37", "assets": [ { "asset": "crx10ia_l.usda", diff --git a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 85aaf99ad705181e5398f8538f0e99b282efa963..304f955e5de2c61fb4767863f9fef73e5efcd71c 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:34", + "timestamp": "2026-11-03T23:31:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json index 6912bbacf2fff145a731a69d65c198245ebd658d..2dd738c93c51d0c100243ff6e64073b484bc1b15 100644 --- a/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia_l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx10ia_l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx10ia_l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx10ia_l.usda.png", diff --git a/fanuc_crx10ia_l/.metadata/crx10ia_l_benchmark.json b/fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_benchmark.json similarity index 99% rename from fanuc_crx10ia_l/.metadata/crx10ia_l_benchmark.json rename to fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_benchmark.json index 7a53ed11a3e538c7106af5ca0826af49d16f9a24..551976b58d577a50d0be98382645272dd84f2da9 100644 --- a/fanuc_crx10ia_l/.metadata/crx10ia_l_benchmark.json +++ b/fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx10ia_l", + "asset": "fanuc_crx10ia_l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx10ia_l/.metadata/crx10ia_l_validation.json b/fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_validation.json similarity index 97% rename from fanuc_crx10ia_l/.metadata/crx10ia_l_validation.json rename to fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_validation.json index b1e6f7c7362f50fde72ee5b53e817e763aba8fe5..95f180b66bb1fea66eefb916bc732450c74fb708 100644 --- a/fanuc_crx10ia_l/.metadata/crx10ia_l_validation.json +++ b/fanuc_crx10ia_l/.metadata/fanuc_crx10ia_l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx10ia_l/com.nvidia.simready.packaging.json b/fanuc_crx10ia_l/com.nvidia.simready.packaging.json index 305be66d0019af1e6655a4dfa03889c487ac956e..fe086b9db650813ed7d309ed1ce5c58d6b307a79 100644 --- a/fanuc_crx10ia_l/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia_l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fa4eca2be1242660bef1dd85c58d5799fd6cead9233b3f8819a05928e9326ba2" + "sha256": "a3d5c1d614c9069ac47eea34172cd20735d08b536c0a09d21e355833f83aa1dc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6a560930e051b3e537b34186fd15019ddf0f5ebfab25d830ee0ac15d83979714" + "sha256": "6394b250441fd4b544a1edf767af228d3df359d047ae24c55ed742f79ca758de" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx10ia_l_benchmark.json", + "name": "fanuc_crx10ia_l_benchmark.json", "hash": { - "sha256": "9a143c5398a1b9013675210f0465d4a22ef6688aa3bbcab4d5bded10d9e77a61" + "sha256": "1001d76ec6019d3fdf7cc5d2d1f2e637f5b90ffe5242706df74e567c629ee7df" } }, { - "name": "crx10ia_l_validation.json", + "name": "fanuc_crx10ia_l_validation.json", "hash": { - "sha256": "d6dd261eed210ba24676be6564a2012c349c21c84b7788aa30b1807c3e133087" + "sha256": "d7428d6ec51dd093dde8915164196da9b5b9e79e9fb7ced59bbb650ddd75905b" } }, { @@ -44,6 +44,6 @@ "sha256": "dda537c345676576da60ca445a1414a24f211533403c62c61c63a50b94c99fa7" }, "package_hash": { - "sha256": "d5aefaa7b195b160d79e3e9e214a3b61087b71d89d1edafddf714ab162d41940" + "sha256": "9ff6a22089d77966a29d0efe5538a7c45b58acea076a91a958213a53272b1bfc" } } diff --git a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index de0cb5e121bc9d001d41d24355aa6cc6a1bb232a..5f046d7dc1db0337accc5c89c177a7d39a4195c2 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:35", + "timestamp": "2026-11-03T23:31:41", "assets": [ { "asset": "crx10ia_lp.usda", diff --git a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3b286e980c8eba103aa0597a8df4ae7808129b09..02afa8f76bf35aab615d798b49db75cc02dc3708 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:37", + "timestamp": "2026-11-03T23:31:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json index 45bcb8f4b28f857b5f57fa373b6d2219ed6849a5..0e26bc5da60b65038df8dc77b761d426f48cb500 100644 --- a/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx10ia_lp/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx10ia_lp/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx10ia_lp/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx10ia_lp.usda.png", diff --git a/fanuc_crx10ia_lp/.metadata/crx10ia_lp_benchmark.json b/fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_benchmark.json similarity index 99% rename from fanuc_crx10ia_lp/.metadata/crx10ia_lp_benchmark.json rename to fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_benchmark.json index 0d32653de34410fcbbe699553882b69c897effcf..c92853ba8b3c7bde871d4a08d2f7745b1c082f48 100644 --- a/fanuc_crx10ia_lp/.metadata/crx10ia_lp_benchmark.json +++ b/fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx10ia_lp", + "asset": "fanuc_crx10ia_lp", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx10ia_lp/.metadata/crx10ia_lp_validation.json b/fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_validation.json similarity index 97% rename from fanuc_crx10ia_lp/.metadata/crx10ia_lp_validation.json rename to fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_validation.json index f728d8255fee39c4e4386aaa1de4c82a2860baf4..0ca566bc55d5bbda556f5826982e446c8ded6437 100644 --- a/fanuc_crx10ia_lp/.metadata/crx10ia_lp_validation.json +++ b/fanuc_crx10ia_lp/.metadata/fanuc_crx10ia_lp_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json b/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json index 10c1f00afd6bb725376754218c15271a65957232..1175565288ed55cddeaca2559900fbcd5a32bdbc 100644 --- a/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json +++ b/fanuc_crx10ia_lp/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_lp.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx10ia_lp.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "725f263cab286a06808b92d117ef7e227b8cbdb631df2e8d876b2d5fc568117c" + "sha256": "f2b5820be6362daab87ed59d3ba8594828a3aa9b519e8a562b08d3148d55bca8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "76de233caf070739ecb937415b576779fd58afd677e88c7ca2bfe12131651dbe" + "sha256": "4d078f3cd310ca40c71fd18a709d3d91f20831b823dc6b7c4b704aaf718b196d" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx10ia_lp_benchmark.json", + "name": "fanuc_crx10ia_lp_benchmark.json", "hash": { - "sha256": "1b33dfbc74560eb870c783401c3bc3c01671d5684f5d8b5ec61fe5e897475ee5" + "sha256": "f06af758e9efc526c00f3750191fd20efa7e5d1aa888ee15fcd653a7d2ca3287" } }, { - "name": "crx10ia_lp_validation.json", + "name": "fanuc_crx10ia_lp_validation.json", "hash": { - "sha256": "be079c819d5f26fd18aaff8b05b17ef0ce363ee53e4e402bc34f07b4cc54e549" + "sha256": "8a5f318254623110fb629d44d3bf5695563c43d3f266957c6c8d32c1b33c95ef" } }, { @@ -44,6 +44,6 @@ "sha256": "f9d6f2597d88683db3aa33ff7b3fc2a370d6af75b3f04ae3d5f6a8d29a05511a" }, "package_hash": { - "sha256": "e58c48c2bfdbbc681e4680350ae7080d1f0329d4f6f64e501dd4de68ec0227da" + "sha256": "3fb62bc24ab8e5200b50cccf9f48ff2e6c7d7df0e4e031bac7bd5cebc9fcf931" } } diff --git a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1bd12f2c53fa62f740eeeb51f96b4f532dee02b3..694e2fc3c0a1269d0afb9269cee0d2a0cab8326e 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:39", + "timestamp": "2026-11-03T23:31:44", "assets": [ { "asset": "crx20ia_l.usda", diff --git a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index bd106942d566224aae1e8f66bc4126563de930a0..4f451c7cea6860d2dca235034382a0969c1e2858 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:41", + "timestamp": "2026-11-03T23:31:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json index a22c5199138da3ece23762a4615d882bffcf3a6e..3661bea1fd9a37fbc759c0ad29cbdd8d1e47e0be 100644 --- a/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx20ia_l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx20ia_l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx20ia_l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx20ia_l.usda.png", diff --git a/fanuc_crx20ia_l/.metadata/crx20ia_l_benchmark.json b/fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_benchmark.json similarity index 99% rename from fanuc_crx20ia_l/.metadata/crx20ia_l_benchmark.json rename to fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_benchmark.json index 82bd70092bdd5c33c4e74f4710bc4932bae49599..f0ace7958d7a56581e99d9d3876c93d1535d596d 100644 --- a/fanuc_crx20ia_l/.metadata/crx20ia_l_benchmark.json +++ b/fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx20ia_l", + "asset": "fanuc_crx20ia_l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx20ia_l/.metadata/crx20ia_l_validation.json b/fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_validation.json similarity index 97% rename from fanuc_crx20ia_l/.metadata/crx20ia_l_validation.json rename to fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_validation.json index 9024a35104f9de50d033750250d85fbfa606f359..23c7ab8f9820524c342fe3ca09180a55547dc43d 100644 --- a/fanuc_crx20ia_l/.metadata/crx20ia_l_validation.json +++ b/fanuc_crx20ia_l/.metadata/fanuc_crx20ia_l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx20ia_l/com.nvidia.simready.packaging.json b/fanuc_crx20ia_l/com.nvidia.simready.packaging.json index 6f0de787964646b5b5ca021117d15c616f2a6e02..221667e9dafc88e15441f54a3060123f5c2514cb 100644 --- a/fanuc_crx20ia_l/com.nvidia.simready.packaging.json +++ b/fanuc_crx20ia_l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx20ia_l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx20ia_l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ce9435c23d7780ff5efa0fb6e67caf9d4e9df953071ef14a89390614a30116c8" + "sha256": "263e9617e11c742ccd5f89ec499d4e43048a870ebea1ec8a0a4f7eb0f9af9af3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ec2ad038b6233f0598c0f3b15da09cadb09051e48f0e1c5940fbfbb15a4df821" + "sha256": "769a2481c82232f61090ce19a8abea4f834ca30c04f8c8dba37f5d816a827496" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx20ia_l_benchmark.json", + "name": "fanuc_crx20ia_l_benchmark.json", "hash": { - "sha256": "12efa352fb94370472ba5da0bfb63715d1f1d2154e15cb992ca1ad8d90565e48" + "sha256": "2bcf540e9f86fb7d477183c3e7c4152d45bc6fc7f3eb2eb9b3805aef7d373465" } }, { - "name": "crx20ia_l_validation.json", + "name": "fanuc_crx20ia_l_validation.json", "hash": { - "sha256": "689137bba7c39ba298e12d11e5ba9b8f069f132f722f7efb78ce4ca9aafb5d9f" + "sha256": "5bc673431b6910bbc81bafadcd53dda40d97ecbee98fa4db77c36c188bdaf3bf" } }, { @@ -44,6 +44,6 @@ "sha256": "4f6af5e1dd1402efc91dd592ce3fa53cbb88f55a570e08e49a77361e6935ca66" }, "package_hash": { - "sha256": "d8eb1dd0e41f3e8db02fffbcf371952baad27bdc83692c44ca831b895c25ae6c" + "sha256": "5eef49f5e230d9bfbb364f14255d76946cedb71e1b868a14ecdf8c10933c2860" } } diff --git a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 88eaf0558fd4f4db04f048f16273d3455736370a..838f9796a3687844bc14d4f05bcd65e871e0a879 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:42", + "timestamp": "2026-11-03T23:31:47", "assets": [ { "asset": "crx30ia.usda", diff --git a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index ea1995441da70ef48163947b08e6ddb33ba093b3..cab728df66fb8a24801096b2c23de8334ef734d2 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx30ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:45", + "timestamp": "2026-11-03T23:31:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json index 84e146352278e8a1692414722d15e19366b6cf3a..89f9ffdf85bfe48c47d5552d769df1a51f97effc 100644 --- a/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx30ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx30ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx30ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx30ia.usda.png", diff --git a/fanuc_crx30ia/.metadata/crx30ia_benchmark.json b/fanuc_crx30ia/.metadata/fanuc_crx30ia_benchmark.json similarity index 99% rename from fanuc_crx30ia/.metadata/crx30ia_benchmark.json rename to fanuc_crx30ia/.metadata/fanuc_crx30ia_benchmark.json index fecab95c73bfceb666c037d7be24273a42ea8ce4..83f954829bb1e82b311a9800283841aabf71c7cf 100644 --- a/fanuc_crx30ia/.metadata/crx30ia_benchmark.json +++ b/fanuc_crx30ia/.metadata/fanuc_crx30ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx30ia", + "asset": "fanuc_crx30ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx30ia/.metadata/crx30ia_validation.json b/fanuc_crx30ia/.metadata/fanuc_crx30ia_validation.json similarity index 97% rename from fanuc_crx30ia/.metadata/crx30ia_validation.json rename to fanuc_crx30ia/.metadata/fanuc_crx30ia_validation.json index b3e8de79f8c0073521df728fbfb8000c956dd18a..47ce5cf89df4848eac7d0023363de572f95075cb 100644 --- a/fanuc_crx30ia/.metadata/crx30ia_validation.json +++ b/fanuc_crx30ia/.metadata/fanuc_crx30ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx30ia/com.nvidia.simready.packaging.json b/fanuc_crx30ia/com.nvidia.simready.packaging.json index 51a3f45c03294193be22897ae04cea8484bf813e..d3f50b15126d31a61a6b55d0d472a9c4cf8490c0 100644 --- a/fanuc_crx30ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx30ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx30ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx30ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "01c08a6aea5cc5b78fbdeef51a63c9f3543881da15a4fc2c0e60cfe5f0a96890" + "sha256": "3d8dc6745581b815eeaee13905bbd9c7738edb6bcbda560a0c5cfdad2cd0a1d4" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "add0a8901e126012ff063cadbde35704c51647a2d579f8e3219757c8dd7873a2" + "sha256": "03569a4452ea48ab82a122afd841f91c05d1506ce9b441c5482e4994a8791a49" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx30ia_benchmark.json", + "name": "fanuc_crx30ia_benchmark.json", "hash": { - "sha256": "d9bc0f251054346f85aef4c412e3c9ceb431b878be533353487a8dfbb6500e3b" + "sha256": "56c361b0a6c526c41fdc2bf0d20ac9d0bb0715389bce4db916d454514b62bf0c" } }, { - "name": "crx30ia_validation.json", + "name": "fanuc_crx30ia_validation.json", "hash": { - "sha256": "093c9f175b6f291fbfd635fd0815e111ac7bdad87c9f0a0b5308efd14779e8f4" + "sha256": "f51bb876df9c449058fb3c96fc19c356dcb7451bea1c4c2dc07f7d867c8c930e" } }, { @@ -44,6 +44,6 @@ "sha256": "433e1e8091f23cdeba6c1dbc1463f7f57d6a3b691ef2115ecc350c5ff0beeaab" }, "package_hash": { - "sha256": "8538ca54b240b8b00cef3a86cbb2c2c46f91b27c7fa67621d66c2f4844f3608f" + "sha256": "a4fdd582d302d74244afa0f5d14b0ffc1691df2eb8b3843ee867026006af9d73" } } diff --git a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 61fa7752b118e7fc9262187b8a463c593dec1894..b85e46c25b65fb2668a3b95b6444130b5d699b0a 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:46", + "timestamp": "2026-11-03T23:31:50", "assets": [ { "asset": "crx5ia.usda", diff --git a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b3146e2615ab718bf985c49ebc086870efe10a2a..9bf4e28292d2db3f3fda7c8dd5780e14bc69b5ef 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_crx5ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:49", + "timestamp": "2026-11-03T23:31:52", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json index 84b6b2a8db000418d3e594a7b6a543316d662dc3..a83451cd5dc26b85907df268a74a05a3c552843a 100644 --- a/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_crx5ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_crx5ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_crx5ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/crx5ia.usda.png", diff --git a/fanuc_crx5ia/.metadata/crx5ia_benchmark.json b/fanuc_crx5ia/.metadata/fanuc_crx5ia_benchmark.json similarity index 99% rename from fanuc_crx5ia/.metadata/crx5ia_benchmark.json rename to fanuc_crx5ia/.metadata/fanuc_crx5ia_benchmark.json index 9d116331f99e96a52d12ce1e843bc91563a54135..9200c3e281d2f7d80a2651d90a1512a735df0c9f 100644 --- a/fanuc_crx5ia/.metadata/crx5ia_benchmark.json +++ b/fanuc_crx5ia/.metadata/fanuc_crx5ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "crx5ia", + "asset": "fanuc_crx5ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_crx5ia/.metadata/crx5ia_validation.json b/fanuc_crx5ia/.metadata/fanuc_crx5ia_validation.json similarity index 97% rename from fanuc_crx5ia/.metadata/crx5ia_validation.json rename to fanuc_crx5ia/.metadata/fanuc_crx5ia_validation.json index 316cb3c8cdec3536449e0121480b41a68a1da774..8850f7668f5b5bb02cf171d7db3ba16a6bc6ceee 100644 --- a/fanuc_crx5ia/.metadata/crx5ia_validation.json +++ b/fanuc_crx5ia/.metadata/fanuc_crx5ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_crx5ia/com.nvidia.simready.packaging.json b/fanuc_crx5ia/com.nvidia.simready.packaging.json index e6fa699249dc56e7596b1b04a51d3cc04180a24b..b45538c17a2cc3713b3c533abf8d83210aea79a1 100644 --- a/fanuc_crx5ia/com.nvidia.simready.packaging.json +++ b/fanuc_crx5ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx5ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_crx5ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "457ba0881f2f135ea6f1580588e618d7d9f984664cdcaffe3d80c77c5c573dba" + "sha256": "cd48d54bb1f8e2656f6466a750101381f2e7a2e85076f20ad91757f78d50d66f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f450a8509064d973aed7e91b01ce17a0535c27fd8e25169ae06cf8511444ea68" + "sha256": "1d4b99e17be590007fa5c8e97bd93c4438c360374af46cda6e228c6bf0b3e60d" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "crx5ia_benchmark.json", + "name": "fanuc_crx5ia_benchmark.json", "hash": { - "sha256": "8eedf64e493e7a01b0d0a593c2b86e1b90668c65a90cbaf33873edb2e31e18bf" + "sha256": "310280fa7adca7e465fd566629623ecdf47bf88b9ab3e91d7a68dd34afd4c625" } }, { - "name": "crx5ia_validation.json", + "name": "fanuc_crx5ia_validation.json", "hash": { - "sha256": "7635afa57acfffa4b8c13c6b6fe4f15022c756c13a72aa7cdea6d103a881b006" + "sha256": "7d926795859610355e7f3b9c6f5ae1339f9960b95ef2514f7bbe3355304607df" } }, { @@ -44,6 +44,6 @@ "sha256": "a30891897e1dfbf7ba8cb065829df41b652a1f8c61e2f5521e992964f6e43264" }, "package_hash": { - "sha256": "e034a6ac6e299cf02c5083e19678d502e0b40b13bdf0c8cd5c0e0f8b9083995c" + "sha256": "e6da752899461cbf38e8ed01419a4ed250005d5ab345a41da8fcc079e802d0d4" } } diff --git a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7c5d1082dfcdc5ed24ce15ed81e4b8066c801de0..7ef9a6e90f16387e4e222fe5b4543d75176dd1d9 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:50", + "timestamp": "2026-11-03T23:31:53", "assets": [ { "asset": "er4ia.usda", diff --git a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 32e60d22c9ae642c1d2e1e3b2bcbe64f3deae562..2a875d8315f292673330b2c53b0e404ef45c8681 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_er4ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:52", + "timestamp": "2026-11-03T23:31:55", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json index 0f2df331f44db1802001556106894ed2ee8ec894..d93e52de095ea60d7368658c4b1d210a4db3800d 100644 --- a/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_er4ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_er4ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_er4ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/er4ia.usda.png", diff --git a/fanuc_er4ia/.metadata/er4ia_benchmark.json b/fanuc_er4ia/.metadata/fanuc_er4ia_benchmark.json similarity index 99% rename from fanuc_er4ia/.metadata/er4ia_benchmark.json rename to fanuc_er4ia/.metadata/fanuc_er4ia_benchmark.json index fdc78c230583b5ac84ed4f59a6931fdd66e78a16..1be2f994e0d87620a7ce760bb8b4e628f2cd2182 100644 --- a/fanuc_er4ia/.metadata/er4ia_benchmark.json +++ b/fanuc_er4ia/.metadata/fanuc_er4ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "er4ia", + "asset": "fanuc_er4ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_er4ia/.metadata/er4ia_validation.json b/fanuc_er4ia/.metadata/fanuc_er4ia_validation.json similarity index 97% rename from fanuc_er4ia/.metadata/er4ia_validation.json rename to fanuc_er4ia/.metadata/fanuc_er4ia_validation.json index 8c4d6a96488f9cb40854f2758f369d47294d36b9..50250094ee975a1642edcb3be6b4ed9ecea787ab 100644 --- a/fanuc_er4ia/.metadata/er4ia_validation.json +++ b/fanuc_er4ia/.metadata/fanuc_er4ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_er4ia/com.nvidia.simready.packaging.json b/fanuc_er4ia/com.nvidia.simready.packaging.json index 6ebed764b112251c06a927d8dadf5b8828c32aa6..b6a6c7f1c6a82d995de7c7355e9ecfe37d03f706 100644 --- a/fanuc_er4ia/com.nvidia.simready.packaging.json +++ b/fanuc_er4ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_er4ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_er4ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "29d1a3a207c8d960e551a57f75aae41cb7aad674c4d2c941169f53b4e8a3fa5b" + "sha256": "18808db14aa9977a6338847c6c6e5a3367be306499e80aa631e6957933ccb3b0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fa85fe22c607935a54522146c8ec4fe866f961a5221727cceff094359a02aecd" + "sha256": "ec19a6fbe19ab5cd66eec971abee964c426868b3b0a6ae6fbb858f2dabb3ec4a" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "er4ia_benchmark.json", + "name": "fanuc_er4ia_benchmark.json", "hash": { - "sha256": "4942cb99f2e4ce1e12c7c3fec5c09bc635ccfb45deaf71509f38c2e0093b85c8" + "sha256": "b792ec1470189deb1a38bc40673b3815054a0a28ea15768d7395a55d73884c4b" } }, { - "name": "er4ia_validation.json", + "name": "fanuc_er4ia_validation.json", "hash": { - "sha256": "6dda40f4605cb27cd6cce0daaefe11f747ab350565f25508e54d69665aa67731" + "sha256": "8a110a07a37e54a6164db43cb5af6d36bd2f251c7506a0a065c3050b2cea95d6" } }, { @@ -44,6 +44,6 @@ "sha256": "5f2e6c58acbcdc8a41356f555466de275d0cdfafba08613fe0b6a599e53be044" }, "package_hash": { - "sha256": "fd171a9defd16754ad12ac028481d1a9651a3efbe7491d77f4cc8d9fbf2801a6" + "sha256": "c86c06cf0c097beaf3dee70be9b4a7951362c359bf0a09c524468ca448372d01" } } diff --git a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e1dfab55228d244c464e3805faa78a95a8eb1eb3..4e9cf73bec1c5912b5271541df61f2a82efc2cf3 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:54", + "timestamp": "2026-11-03T23:31:56", "assets": [ { "asset": "lrmate10-11a.usda", diff --git a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4179f19fe8cc77c87169390b984d74400ef5427f..0219861a4209b4bc0de10042e225ed3fe7c48d46 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:20:56", + "timestamp": "2026-11-03T23:31:58", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json index 21b25027854594897ae4da8f78a7ab8831216bbc..25c37bf60423c27e931e01da92368a5b254a2688 100644 --- a/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate10_11a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate10_11a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate10_11a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate10-11a.usda.png", diff --git a/fanuc_lrmate10_11a/.metadata/lrmate10-11a_benchmark.json b/fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_benchmark.json similarity index 99% rename from fanuc_lrmate10_11a/.metadata/lrmate10-11a_benchmark.json rename to fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_benchmark.json index b1707ce3c18d14b6547421957316cf4ffeabb573..eecafcb55caad69efbb2e4cfc0e263a2394c535d 100644 --- a/fanuc_lrmate10_11a/.metadata/lrmate10-11a_benchmark.json +++ b/fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate10-11a", + "asset": "fanuc_lrmate10_11a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate10_11a/.metadata/lrmate10-11a_validation.json b/fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_validation.json similarity index 97% rename from fanuc_lrmate10_11a/.metadata/lrmate10-11a_validation.json rename to fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_validation.json index 164bf06674fd1c90b871032302aee28863365941..87f21873c83ffc41c5db4d6610fa55a54d08fc12 100644 --- a/fanuc_lrmate10_11a/.metadata/lrmate10-11a_validation.json +++ b/fanuc_lrmate10_11a/.metadata/fanuc_lrmate10_11a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json b/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json index fd48227fd2ac8a966e363f28f097e265104e4a26..62ed5536225723deb590cdf74554f6c7e9dce912 100644 --- a/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate10_11a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "aa4772c0856ce09a9657ba6b65233d1ad66907042e1ef96ba6338d4204229721" + "sha256": "919c5f9982381b771f7f01c0c37a0e1bad5292455c9f24918c360531b7a28224" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "5653e1879836174fcba4c30e82b3bf1657932e9d8ae7159d9329d696e1efe360" + "sha256": "1944bc6c22f2dfc983d9d2a06f61a870483c5f71171ef6c5a034c0ad1fd01c15" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate10_11a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4b3abe9bc93b92b928f991d275836b81f5a904b4729c2f07170303fb43928134" } }, { - "name": "lrmate10-11a_benchmark.json", + "name": "fanuc_lrmate10_11a_validation.json", "hash": { - "sha256": "a96eb5e0da08bcee64703b160e60c248d7a1813a86efb5ea29a7cf292a411be1" + "sha256": "a544ed16ed02363d85b95c2bdc0262ddb94dae885f12eb068010d57255b858ba" } }, { - "name": "lrmate10-11a_validation.json", + "name": "license.txt", "hash": { - "sha256": "fd6918416cb91645e302dfbad57fb64dd9cdef247b343531cfe11addb3c8a3aa" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "0c81a564366b0efb657a7bc2121b7899d395defa0e58b59442de55247ec4382a" }, "package_hash": { - "sha256": "084774ded443ae73be29718145d49362e32f5fd5ec29eddb712a87c9c2553bce" + "sha256": "fc67c3b5aced92413b08fb9825029a41ebfa8984f287ca01fd9d46be3e9c6405" } } diff --git a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e5d0897e7dfd85bf3d40a4f06c81f5bf0aad529e..4abfec156e5fa103c9c7ee56e32000456625a35e 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:20:57", + "timestamp": "2026-11-03T23:31:59", "assets": [ { "asset": "lrmate10-11afc.usda", diff --git a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0dc12a4fa7c6f5b56dd2d1e9f646dc537a38d247..cce9d135bb4663947fb8aba5169cde5294b7ec64 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:00", + "timestamp": "2026-11-03T23:32:01", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json index 4fe080218470bf87dd5f6a896dab0bdedd0c4603..c2eebc62284c73735b2b19b1f2786c9e40c271e5 100644 --- a/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate10_11afc/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate10_11afc/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate10_11afc/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate10-11afc.usda.png", diff --git a/fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_benchmark.json b/fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_benchmark.json similarity index 99% rename from fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_benchmark.json rename to fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_benchmark.json index a1a79462ab6c2e8350192810f85779e1203ea750..14df308795abb0116f0ebb4310aa2b3ec8cd5276 100644 --- a/fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_benchmark.json +++ b/fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate10-11afc", + "asset": "fanuc_lrmate10_11afc", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_validation.json b/fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_validation.json similarity index 97% rename from fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_validation.json rename to fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_validation.json index a50d5dca219fecfe774638e76e03229062393fe8..929873fecb2823741b543a46d75e8876cf82a28e 100644 --- a/fanuc_lrmate10_11afc/.metadata/lrmate10-11afc_validation.json +++ b/fanuc_lrmate10_11afc/.metadata/fanuc_lrmate10_11afc_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json b/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json index 355aecf899497619e52f69c9fd2b4e594832c95e..52747a87a623b6281afb601d24b1424c5a4c0da1 100644 --- a/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate10_11afc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11afc.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate10_11afc.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5f7addba75459bc811be4e3106789fcca0d38720aca6cb8910d1aece8102836b" + "sha256": "e319637d672e86a8c6bca4f509382181a184783dac09ab7f11afcaa9653f1480" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "789d5995f7b37982cf0cc786943f5520d7ca9502c74737c954fda90ab6a5b02b" + "sha256": "5ba43a9046119c377e198576f0285a3f5c7347a7b56b8d528d2371e4580fa987" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate10_11afc_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "11fa9257fe8e6f480bb9cb346018434e452936aa388d3a0eaa0c39c4ea91934f" } }, { - "name": "lrmate10-11afc_benchmark.json", + "name": "fanuc_lrmate10_11afc_validation.json", "hash": { - "sha256": "88c05e095f42320a6a445ce9118d3c25c218ede6342f99b682d0d24906233011" + "sha256": "259c99d6c434da54295dae4d6ecdf32390e27f898dd695da20c74e6f214f465c" } }, { - "name": "lrmate10-11afc_validation.json", + "name": "license.txt", "hash": { - "sha256": "755a74a50732f8a2b8ea5c330f7d255623cd8bd789f33de83cc9f43e230f75d4" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "020f1d976007373e1491c4eb1dcf2039de7451c6b4f02387b4a2a4341b4d03de" }, "package_hash": { - "sha256": "738a30d1cc5337c09f983b2a42d22cc99fb93524b09559091275d5722214d9ac" + "sha256": "91e4ccc0ae6e1b54d4d669e88ea0c08237309304217b67bfa3c6e80f425e2472" } } diff --git a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 1e307031bcb46b2595b5e9bfb34a9bf60b6dc574..634bfea0e38f7f1dac8c8498d7fe42c227958b53 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:01", + "timestamp": "2026-11-03T23:32:02", "assets": [ { "asset": "lrmate14-7d.usda", diff --git a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9c13c530a1fa7cdf446476f4cff31ccd131b3844..b6cc9ab35d4e296bcb5f1afaa805f39c9ab09592 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:03", + "timestamp": "2026-11-03T23:32:04", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json index 55585c7c4a7add69544da26af4e8f00432c3119c..9424595d2b8c67728b2ab84ed46a1d6788d6e96b 100644 --- a/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate14_7d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate14_7d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate14_7d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate14-7d.usda.png", diff --git a/fanuc_lrmate14_7d/.metadata/lrmate14-7d_benchmark.json b/fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_benchmark.json similarity index 99% rename from fanuc_lrmate14_7d/.metadata/lrmate14-7d_benchmark.json rename to fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_benchmark.json index a29fcc34d2c1a7f05dcba831be370fb63b880cc5..4d00fd1350f72b741f9b807b4f25fe3101f49e90 100644 --- a/fanuc_lrmate14_7d/.metadata/lrmate14-7d_benchmark.json +++ b/fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate14-7d", + "asset": "fanuc_lrmate14_7d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate14_7d/.metadata/lrmate14-7d_validation.json b/fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_validation.json similarity index 97% rename from fanuc_lrmate14_7d/.metadata/lrmate14-7d_validation.json rename to fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_validation.json index 871e8f5f933686ab8c244118b2324daade637b19..17e21b8096b93e454d3b600f4262d08a0bd08b37 100644 --- a/fanuc_lrmate14_7d/.metadata/lrmate14-7d_validation.json +++ b/fanuc_lrmate14_7d/.metadata/fanuc_lrmate14_7d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json b/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json index ba798b84bb9abc9fb7e16efaa1d4124cadfcdbe2..26ee1e088673938f12b418b62c8e8b4c1c43e874 100644 --- a/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate14_7d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate14_7d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate14_7d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b0c04e1ba597faeb9bd90c78fedeaea3ce5e6da9be5632818344ce24a1ebba09" + "sha256": "11ebf2c6714928a177ed09c5ca379dc7d29c93cac05ad4bcb79ffabead1680a1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9fc3bcdce5f563aa14bda8a2e94f700d5065eb26160da5c462ba17c2dd4f0b76" + "sha256": "253c9be2d5b242a13a22d433e7a215f27b79abca9e36a51aa415831d685b2c12" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate14_7d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "99944a06fc9af882e7b38e301381d68fb4260609a6141a60c684b5dd12a7f718" } }, { - "name": "lrmate14-7d_benchmark.json", + "name": "fanuc_lrmate14_7d_validation.json", "hash": { - "sha256": "f4495d1f27a4423a54c0b8dd26ce866b0ae1cab38ecfdd4821d7dc6e2720f000" + "sha256": "4282514f6f6e7f2a540b379e7d94ffc41834dbc525e7a6297b354772a3612252" } }, { - "name": "lrmate14-7d_validation.json", + "name": "license.txt", "hash": { - "sha256": "c2fc3f3a5eaf0c82c73c1640f8d0cb61b0c4244e9edb33af587a4b65d06c5224" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "eb859d1c10d6ccdce26c55a6638365f8aa01565de2a6818d3b138b93356aea85" }, "package_hash": { - "sha256": "b46f86acaff9bd444e1391c689b01e9b20b754769c4f4df4e1111189d5e61d39" + "sha256": "7f5c21c4e72c8b334b0e33a21b4e6bf2993a082103a57f30665d754323dc6787" } } diff --git a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e1afdea67e6dcfb58f5cf361fb88036a606aa016..31596c37f8df4c84ed47fadbc9882ba603b3ec9e 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:05", + "timestamp": "2026-11-03T23:32:05", "assets": [ { "asset": "lrmate200id.usda", diff --git a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 921bc7440f3e48d328d159c58eb2e70380fade44..581bbce9b56bf4b6d98f625b4472325e229d084e 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:07", + "timestamp": "2026-11-03T23:32:07", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json index 1471974b7f512eed546593cb738a32650f347cad..9ea2cb5978735524d083eebe844386e65e58c9e0 100644 --- a/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id.usda.png", diff --git a/fanuc_lrmate200id/.metadata/lrmate200id_benchmark.json b/fanuc_lrmate200id/.metadata/fanuc_lrmate200id_benchmark.json similarity index 99% rename from fanuc_lrmate200id/.metadata/lrmate200id_benchmark.json rename to fanuc_lrmate200id/.metadata/fanuc_lrmate200id_benchmark.json index 27359837acfbf25076f6c2c584a24f4c7eb8b0fa..549ae06f60b1f270df3af024dced43049098cc0c 100644 --- a/fanuc_lrmate200id/.metadata/lrmate200id_benchmark.json +++ b/fanuc_lrmate200id/.metadata/fanuc_lrmate200id_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id", + "asset": "fanuc_lrmate200id", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id/.metadata/lrmate200id_validation.json b/fanuc_lrmate200id/.metadata/fanuc_lrmate200id_validation.json similarity index 97% rename from fanuc_lrmate200id/.metadata/lrmate200id_validation.json rename to fanuc_lrmate200id/.metadata/fanuc_lrmate200id_validation.json index b10b7ff29e497127b7d39e7da4aaa0fb1f376469..05f5784c574186a68f30e7d1ab239a4668d9b4fb 100644 --- a/fanuc_lrmate200id/.metadata/lrmate200id_validation.json +++ b/fanuc_lrmate200id/.metadata/fanuc_lrmate200id_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id/com.nvidia.simready.packaging.json b/fanuc_lrmate200id/com.nvidia.simready.packaging.json index d93150b5fbff6078f29436f599aa3aab0023b66c..885bc2e9f35d23b70040c5ace96ec9c030da97cf 100644 --- a/fanuc_lrmate200id/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b0bea927418d463ff41e137f0dd95da21527d62a525e6e50a8c986e866d8ceb7" + "sha256": "560e40f62fa6de20010cee263c48f0cbaac853cbb472f38fdb0e20c785fee878" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "75a5e4ee8d300e27663edf8fed9c3a7711345142c082deb6fac79102336fc155" + "sha256": "739a85cace0e18fa7922757fb7384aa22bf8b18a5783aa783d1a9dae1350929f" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d252fecf7e21134ac4962242b8a76a974e2f989cb23cc76ae559e697920894f3" } }, { - "name": "lrmate200id_benchmark.json", + "name": "fanuc_lrmate200id_validation.json", "hash": { - "sha256": "cec6edef3bc8a0ce6dac82cc86dcdf26d087f11907646c39f0f6d26f5a27a57e" + "sha256": "cdeb7cf0e3ad3deab35c2176cafdb6137120f19a15f307bd51de65e09e3c37ff" } }, { - "name": "lrmate200id_validation.json", + "name": "license.txt", "hash": { - "sha256": "5769e205cbe90a203e8124fa5820f6faf8b602a851903049985cf7f90a0c8817" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "398e921fa003e7eb25f1754ac038ff568c6d0b02d25425c8c96d24d04ef0bf8c" }, "package_hash": { - "sha256": "4a8e872606dc7b45d0aabe7cfe338127f6010ecb3b097c39ad6aa52441744fb8" + "sha256": "ec82760ec682994d52e1246371567f0545214f5056edb0f9f1efa3af9799473a" } } diff --git a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d438eb27d27b4db1f88a26f114f8368c630540ab..df595528da3f236529d4514154a61b7c7400e0e8 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:08", + "timestamp": "2026-11-03T23:32:08", "assets": [ { "asset": "lrmate200id14l.usda", diff --git a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b0148bc0333857b9cb42e3c585119c8af40c6bc3..8a7461f0a07666b2bd1342680991e43ce2f400b3 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:11", + "timestamp": "2026-11-03T23:32:10", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json index a95f244b7124cf77238cfe31f83aa79ec9db4224..9ba3f7b0d982628c1dd52bf6b832dce4e76bf4a1 100644 --- a/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id14l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id14l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id14l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id14l.usda.png", diff --git a/fanuc_lrmate200id14l/.metadata/lrmate200id14l_benchmark.json b/fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_benchmark.json similarity index 99% rename from fanuc_lrmate200id14l/.metadata/lrmate200id14l_benchmark.json rename to fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_benchmark.json index 9a776de4dd910baa411aee9ee6a849a11da8f09f..9d4a7cd06438bf3c31b1da12da1f1914d4aa0669 100644 --- a/fanuc_lrmate200id14l/.metadata/lrmate200id14l_benchmark.json +++ b/fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id14l", + "asset": "fanuc_lrmate200id14l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id14l/.metadata/lrmate200id14l_validation.json b/fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_validation.json similarity index 97% rename from fanuc_lrmate200id14l/.metadata/lrmate200id14l_validation.json rename to fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_validation.json index 97f2af25947024cfd555b6ca9182ab264f34a67e..475b3f26c90da4e82dc9be0bbbcbe5e4a5331abc 100644 --- a/fanuc_lrmate200id14l/.metadata/lrmate200id14l_validation.json +++ b/fanuc_lrmate200id14l/.metadata/fanuc_lrmate200id14l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json b/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json index 88c964c690d3c01bc9a66d6cd26ab5ed8187933d..fb3ceba73ca865b238c543f3f94f57053ce8914e 100644 --- a/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id14l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id14l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id14l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "96084ce09835820391feceacedeb3045ab3fa0a5e9a228c43cf77ed164c4a0f1" + "sha256": "afc981a16eba585069788587a4e883e0d7be4747c7860662b2490cf902e1f743" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "65bd89b28e8673a87069764865f2637b662106770f10d6b8b4d8286f72d671e6" + "sha256": "c6513438a233368e8d1a193c2ac5dde334cd67746d913ebc29796243af367f60" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id14l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "7f34724c93c089605b640fe5cf69de862bdb7e70810c04dc035431258851d459" } }, { - "name": "lrmate200id14l_benchmark.json", + "name": "fanuc_lrmate200id14l_validation.json", "hash": { - "sha256": "7046ebef83fc9c1005166d1689c92d9983ef5b81dbe2a56afb1ef77055683c6b" + "sha256": "b21ad88333ed416b0113b8890725a8d43e9aec3f14e5e569ce689da553793c8d" } }, { - "name": "lrmate200id14l_validation.json", + "name": "license.txt", "hash": { - "sha256": "6d0d64e9e4cab2d75e3bb2708c794f2f773e115469d34404a57c1c0f22146eb1" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "bb385c20c5a1d31f9e064fa1be80cd894c3b79d1b9f195e872486cec71063468" }, "package_hash": { - "sha256": "69c57e368cf79c2cb84288680185de43aa7eb9de48ac6399573a4aa35a169813" + "sha256": "4abd4fc137e134fa82a371f647394378c04b029a5f92d6f08a304e16a9a3cc54" } } diff --git a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index de5f015786c94b3fcbe21654c5472062594a83ba..899a7146d8a4a70c81cddb8d5e1faabdc2a7bf58 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:12", + "timestamp": "2026-11-03T23:32:11", "assets": [ { "asset": "lrmate200id4s.usda", diff --git a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d12ffb740185ef2f196e51beb2cf80bd601b0ff6..cb5f2038970aa38114279e7860cf37abd9660564 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:14", + "timestamp": "2026-11-03T23:32:13", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json index d59536b6617e8a971c460301fb3a236cf30e094b..8ec20c28653d04e5533ff4286473cda74ef2c122 100644 --- a/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id4s/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id4s/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id4s/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id4s.usda.png", diff --git a/fanuc_lrmate200id4s/.metadata/lrmate200id4s_benchmark.json b/fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_benchmark.json similarity index 99% rename from fanuc_lrmate200id4s/.metadata/lrmate200id4s_benchmark.json rename to fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_benchmark.json index a053d1cbf77afdc304458bd6f333b9a6216ce4b2..6dbf04e69379e91ffb0c91176685d5f301e3b6a9 100644 --- a/fanuc_lrmate200id4s/.metadata/lrmate200id4s_benchmark.json +++ b/fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id4s", + "asset": "fanuc_lrmate200id4s", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id4s/.metadata/lrmate200id4s_validation.json b/fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_validation.json similarity index 97% rename from fanuc_lrmate200id4s/.metadata/lrmate200id4s_validation.json rename to fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_validation.json index afecb1f5997363a246d9c041fec269b392c2b320..bc3b962b5d5b6c603529a8365e634fb8ee5081f5 100644 --- a/fanuc_lrmate200id4s/.metadata/lrmate200id4s_validation.json +++ b/fanuc_lrmate200id4s/.metadata/fanuc_lrmate200id4s_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json b/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json index bddac41bb1ab176de445e52b0443ba9cdd00997b..b003c855b4b9f1fd35a16309a8c6910e04eb0d0d 100644 --- a/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id4s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id4s.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id4s.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9edc254d93cdf0024374f32b0bb1805e3968412b8138c6e4ed0bf53e8c896954" + "sha256": "92c2b68938d73dace35526b759548cfe423a7f863127452149cedc6f177219e7" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4f98376d4d209d3483a2b462fb94540d95821fa6ac4ff4b787e5353e4e73c1b6" + "sha256": "894bcfe3d4a1fff366b970d63609e09674f841176975682186125a1000cdc4bd" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id4s_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "b48436a0350a4f671129c08e07eba5d105eebfaa5f1a972d53eda89508cf73e3" } }, { - "name": "lrmate200id4s_benchmark.json", + "name": "fanuc_lrmate200id4s_validation.json", "hash": { - "sha256": "7e1768816285bb20c1ce9f6f1d498d22fcd56d6bfc7345fa176e7076ea0176af" + "sha256": "366989ab9e154cfa2b913f7d2c3b907147ed96d99646ffe7d77cc23c8d3b6862" } }, { - "name": "lrmate200id4s_validation.json", + "name": "license.txt", "hash": { - "sha256": "3047b601b51897918c417cc0598bd63d260b2a0544b5ef4f418bea6586d394ac" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "ab081be854eeab7373ec3892f831afc36738b20d24f193c7acb4cf9318362eee" }, "package_hash": { - "sha256": "cea8a863e4d887c73230a5f19a5732383b8ad866bcb435e60b2a5a982ca05f51" + "sha256": "13ac07596352668495198f8bf538a22fd3012ea86b43b3fddf3fec49726e9a4f" } } diff --git a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ba0a49dd97ac9362e4d79572c3b88f1f9b54904f..7ea9e26396048d6216f571170b2b385b00ebeadd 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:16", + "timestamp": "2026-11-03T23:32:14", "assets": [ { "asset": "lrmate200id7c.usda", diff --git a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9b921f36a0a20d5ada26dcda35521193edfe2130..3d0b111d149bd2da25d906644e39439addadaa79 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:18", + "timestamp": "2026-11-03T23:32:16", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json index 748d1466e67487cc1abb081959b00c3debb68514..910c7c7a9831859cda1eb5fd6944a10ea3e1991e 100644 --- a/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7c/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id7c/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id7c/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id7c.usda.png", diff --git a/fanuc_lrmate200id7c/.metadata/lrmate200id7c_benchmark.json b/fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_benchmark.json similarity index 99% rename from fanuc_lrmate200id7c/.metadata/lrmate200id7c_benchmark.json rename to fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_benchmark.json index 8104c2e615ca79635a0b5e39866b676eb3e75981..a2d9f92cf9fb69a588826214a3eccf623139b4c4 100644 --- a/fanuc_lrmate200id7c/.metadata/lrmate200id7c_benchmark.json +++ b/fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id7c", + "asset": "fanuc_lrmate200id7c", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id7c/.metadata/lrmate200id7c_validation.json b/fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_validation.json similarity index 97% rename from fanuc_lrmate200id7c/.metadata/lrmate200id7c_validation.json rename to fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_validation.json index 60d4e5e1e11c5b009b7c7ff03ff23bb62f36049a..c602553e8d220eb908d477590af84ecd055bb811 100644 --- a/fanuc_lrmate200id7c/.metadata/lrmate200id7c_validation.json +++ b/fanuc_lrmate200id7c/.metadata/fanuc_lrmate200id7c_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json index 49c160be0736884caff1afdd3963e0ebe5382fc4..b82e6af3419fd4289abc516dd45993aa3aa7e507 100644 --- a/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7c/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7c.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7c.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "04c4c290212806f799f964ca9ac10c611a6599d01f78e5059ae00c88cf13e081" + "sha256": "5a7110118d5ca30433eda97287ddcc046d9686d419b227026541560eaf8756ea" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "da867d922a800f4376e9040f9f60b2f8e387d53dc06aa61397f7b5d78a060bb9" + "sha256": "bf619d5ee07dae9c66c999c5de84e4010618fc0ae61cbc31019ea238fe1a35c5" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id7c_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "bd90e98f5fa7331c976e674ffe0a3cde8a244ac4d784e7d51d62b15176bf8240" } }, { - "name": "lrmate200id7c_benchmark.json", + "name": "fanuc_lrmate200id7c_validation.json", "hash": { - "sha256": "51c3f0b119e95458c4b84fd6b6890e47c0efc6d0049ca83275266861807eb8ed" + "sha256": "cd6ee6846f8613c7a9040ead0b026b266a5abec60788725a329d216c713f8e3c" } }, { - "name": "lrmate200id7c_validation.json", + "name": "license.txt", "hash": { - "sha256": "07c3c53a9967d20f5349c9c8907361d00558918b367d2129e31a9b7e1def8a4d" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "9463420e1deb758699176b44a7a49d7f76b090d9c2b4c8eb127285665690db42" }, "package_hash": { - "sha256": "e8da2c63fad6d59bd27cfd262aee7d3d3ac5f346da4b871fac735abff2330958" + "sha256": "78f9c96fd4e6973d35a2f99fc6e7c9f9b70c96006c7cd09bd12b34059f4fa19e" } } diff --git a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3231e248899f68d0aedd7b3a02d385fbddadb1cf..f0dd6cee4352149e98ab117636719515ab5357e6 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:19", + "timestamp": "2026-11-03T23:32:17", "assets": [ { "asset": "lrmate200id7l.usda", diff --git a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 24073f2d382578c4301aa7e62bae5aca2b767978..8d938622185ec9d66eb71295a91aed40e7d3ca7e 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:22", + "timestamp": "2026-11-03T23:32:19", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json index 2047e3099d9c3a1be7050fdb9ab47f77c2353bfc..080833f8e57ab93a319b92eaf320d47c0a8d2a0d 100644 --- a/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id7l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id7l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id7l.usda.png", diff --git a/fanuc_lrmate200id7l/.metadata/lrmate200id7l_benchmark.json b/fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_benchmark.json similarity index 99% rename from fanuc_lrmate200id7l/.metadata/lrmate200id7l_benchmark.json rename to fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_benchmark.json index 361e4e5bef9afd2da1400abb5678919a568eda27..68a537903fce656342e18d08c974d07666fd8385 100644 --- a/fanuc_lrmate200id7l/.metadata/lrmate200id7l_benchmark.json +++ b/fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id7l", + "asset": "fanuc_lrmate200id7l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id7l/.metadata/lrmate200id7l_validation.json b/fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_validation.json similarity index 97% rename from fanuc_lrmate200id7l/.metadata/lrmate200id7l_validation.json rename to fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_validation.json index 82e92e1a8df7bfbb1dcb5e9fe996b02e8aeab031..b63dbb149841ff6227f9b6bbdc30a2355c7243de 100644 --- a/fanuc_lrmate200id7l/.metadata/lrmate200id7l_validation.json +++ b/fanuc_lrmate200id7l/.metadata/fanuc_lrmate200id7l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json index a666b921962aa68ec2bfe6fc847ebad67e78e219..6dc2375f8e5e0f98dc5ba1b9a27e43f59a546a96 100644 --- a/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2fa5b1dbe549401c099253dca894bab640670b1e84ab5ac9b7debde4ad3401b5" + "sha256": "09a0f0e25e3819f53762c12a7c70fb109ad59c79744a8fe9ac40556a475ec9ec" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b26101e011241b80f112b4480c34dea22cbbf976a8ae309f07a03bbc24c3500e" + "sha256": "482feb1e9ff48784e3f53246387e026b0462994542c11ec61f1fc79303c59cf2" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id7l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "538d39b94a6b731f530f73b18a071aa7770bfb63e0700c93165d44548a8948d3" } }, { - "name": "lrmate200id7l_benchmark.json", + "name": "fanuc_lrmate200id7l_validation.json", "hash": { - "sha256": "e0d1641cd5f8e0f320f41a58e40f643ce655a4870abaa76636304ff7d58a0bba" + "sha256": "dff6fe37372d84631812aa614d0f81f7942e7264e87de10321178173c24bf0ef" } }, { - "name": "lrmate200id7l_validation.json", + "name": "license.txt", "hash": { - "sha256": "2b63f5f39595624af188bf96a904766a8f43f165b50726c0cbadd6b222405326" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "6fd1f7d6eab2350349bdcd65d2ede09f3e2b635b0b6a26ef6617496b79e0e2b5" }, "package_hash": { - "sha256": "fbc2099638f3362b8ad36c3960dc14b5ca79805a75bd06d58806673ed35090f0" + "sha256": "ed2795b070c624de58c4a53b2f6e4b38a77560f457980113bd017cf9a5b1b8b4" } } diff --git a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8e6f77716baeaf132ac4828932e34df2099fb58c..fb7640e32ed2f50b04143b6260df5b1ad1b7f14f 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:23", + "timestamp": "2026-11-03T23:32:20", "assets": [ { "asset": "lrmate200id7lc.usda", diff --git a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9824d04dd3218c755693e1abd5cad1281d92a779..dd701fac9bdd418cc90073babe7e774270650e08 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:25", + "timestamp": "2026-11-03T23:32:22", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json index af0f4edab502a9669e62f99e083311182db41586..8510e1c5433eea118cfa63b610c7a8d18b796cde 100644 --- a/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7lc/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id7lc/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id7lc/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id7lc.usda.png", diff --git a/fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_benchmark.json b/fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_benchmark.json similarity index 99% rename from fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_benchmark.json rename to fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_benchmark.json index 50b188879490dc78895aef985165b0a3fad3774c..273106c28d6920ec4c68599367ccd68d62d9c063 100644 --- a/fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_benchmark.json +++ b/fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id7lc", + "asset": "fanuc_lrmate200id7lc", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_validation.json b/fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_validation.json similarity index 97% rename from fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_validation.json rename to fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_validation.json index 573f5631606433ac2ea2747c2d676412e82bdd73..6bf7a999206294d2feb5e79303d7bb3463856211 100644 --- a/fanuc_lrmate200id7lc/.metadata/lrmate200id7lc_validation.json +++ b/fanuc_lrmate200id7lc/.metadata/fanuc_lrmate200id7lc_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json index edb378bcd8e28126c50f8fdcc434f8a82d2aa375..841fa27fc831ca7eeb26b5aaca0b26d0ae368f0f 100644 --- a/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7lc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7lc.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7lc.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c375ea5c35aba9fd57b3733eee6375b6699790e99f40ec383efcaa6a87b35f92" + "sha256": "0d4287003bc311656dadd6fb0593398bd441182d7febb47d2cc26ac0cff20158" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "37a0de17f0bb827694e60cc960d2b455acafb81d184ed2c3259eb7108366d81d" + "sha256": "a186c570f0490bdca7b7f40ae192f90dc879751a3d1ea3a94892896a6ca3fcc4" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id7lc_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "ded5fa98c35e45e538a5c83abf549b3e180806280d07b674d36a478b000d3479" } }, { - "name": "lrmate200id7lc_benchmark.json", + "name": "fanuc_lrmate200id7lc_validation.json", "hash": { - "sha256": "672725c2ef9dadd8faa3ba0f80bab9c78be1e3fdd49f58fd6ea55a1fddb962ab" + "sha256": "fbbc9ad7e8bcb5b5058446520248ed0687e65a4e6e26d7db17f8f90c889b39e5" } }, { - "name": "lrmate200id7lc_validation.json", + "name": "license.txt", "hash": { - "sha256": "3f24ebb1bf3cbabcc62ce43a2a1d348a7eb4480736fb7b8fcff11e2fce4854b9" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "21ee22c6afa2f27fb890dba0815ba5b4b2e5543e203d3707cc9710d85114c8cb" }, "package_hash": { - "sha256": "aa69f95ed8ad8041d9a182f03269aa084d82abc06d724b02f78cc455af08492a" + "sha256": "de977c6a9bb9295f91d02b49c33536a0b893792ecaa648129e7335c57a54dc48" } } diff --git a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 98350073282caef33581192bc4627f6b48a38bdd..23d8d0c9560c442370831f163ea136e6b5551498 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:27", + "timestamp": "2026-11-03T23:32:23", "assets": [ { "asset": "lrmate200id7we.usda", diff --git a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 1c8480df4bc19a6cfd75cfffb760a817700a2141..da7b2d1fa1aedb85cfe93a26def6dcbb9eed1b13 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:29", + "timestamp": "2026-11-03T23:32:25", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json index 987a0d680967ba60fd161e40a145142c1dabb231..a9c2d9d56cf7a836139fe29b7620f40a99f4b028 100644 --- a/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate200id7we/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate200id7we/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate200id7we/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate200id7we.usda.png", diff --git a/fanuc_lrmate200id7we/.metadata/lrmate200id7we_benchmark.json b/fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_benchmark.json similarity index 99% rename from fanuc_lrmate200id7we/.metadata/lrmate200id7we_benchmark.json rename to fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_benchmark.json index 0c29d67486ba26c37b572b6fb9e02ae9c11fc86e..dd3e34f9dc5680fa705f6ea99414f014b8e53009 100644 --- a/fanuc_lrmate200id7we/.metadata/lrmate200id7we_benchmark.json +++ b/fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate200id7we", + "asset": "fanuc_lrmate200id7we", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate200id7we/.metadata/lrmate200id7we_validation.json b/fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_validation.json similarity index 97% rename from fanuc_lrmate200id7we/.metadata/lrmate200id7we_validation.json rename to fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_validation.json index bf2da734a664730e320155ccfa159a780f635cbd..98702d2aba9a3c6145ce82a445442d916fb62b3a 100644 --- a/fanuc_lrmate200id7we/.metadata/lrmate200id7we_validation.json +++ b/fanuc_lrmate200id7we/.metadata/fanuc_lrmate200id7we_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json b/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json index 5c48a15e1af749b58a60c9f4ae84ac40e955f508..7619cd6ced28f6fe61a122e70c7d6fabcbe5cf94 100644 --- a/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate200id7we/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7we.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate200id7we.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fbfba84f8bb2b3aed49f4ab9903d0c0fb06d7db5f00e84a863babfc826d786e8" + "sha256": "6d516a3397186a33a235255237e9141f4e26e29fbbc26f0d8b792d8b3bf70283" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b612bacab912a5080d190adfdb373c46687e6da087a6828a831822da672865e4" + "sha256": "b4a7dd6e873a0dac75e9ef2ae892169d7366a93e70f411cc299f44f499163b51" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate200id7we_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "b2ac624741d73973a3c97a402cf2410e2aa1569e2ed5c18cd6ffb714ed34d66e" } }, { - "name": "lrmate200id7we_benchmark.json", + "name": "fanuc_lrmate200id7we_validation.json", "hash": { - "sha256": "cfc81a406d5b3faa3409afbf5dbe57cc3cc4c8070afa1c95bea08d62d7b174e2" + "sha256": "bcfb0aca4f47ba9e4c809d86bf4afd755ffeba7007110499cf1f7e21933e9d24" } }, { - "name": "lrmate200id7we_validation.json", + "name": "license.txt", "hash": { - "sha256": "d5fdfcaae2aca7ccc2a85120057c65a4c04eb9f38ae78bab433b328a64c53121" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "25491c2c9a4ca7c107ea67d00e15e0ba49d1c17f9223d25e98c696bbcf235f2f" }, "package_hash": { - "sha256": "d2b151e5078bca01028f3c7543cc4691cda801a7831d858eab231efc18f23ae5" + "sha256": "ada2bce2b495d6369508bfbd9abdec050b98e391050f92e07edcd96794865933" } } diff --git a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8b79c971ab0c217f74a8262076077e603d663bef..a9449c10c32e0200c31d4fee10fbe4015957b89d 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:31", + "timestamp": "2026-11-03T23:32:26", "assets": [ { "asset": "lrmate25-19a.usda", diff --git a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 85ce8c965d68aae31e928bcdcf54d2049ffa44bf..13ec95a97a98cf1978c6c558ab6ef792c2bf2b53 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:33", + "timestamp": "2026-11-03T23:32:28", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json index 5f6642ed8e90cdb782b7627f28f5ebc5194f1b06..e818d673cce33ffd31f10db1e009fc322c5efdf4 100644 --- a/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate25_19a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate25_19a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate25_19a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate25-19a.usda.png", diff --git a/fanuc_lrmate25_19a/.metadata/lrmate25-19a_benchmark.json b/fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_benchmark.json similarity index 99% rename from fanuc_lrmate25_19a/.metadata/lrmate25-19a_benchmark.json rename to fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_benchmark.json index 29b84f8c9ba79551ed5b4bd6056c80a34e16448d..156cdd484ac2afb8d509218ee1ad6cb0accaf7ae 100644 --- a/fanuc_lrmate25_19a/.metadata/lrmate25-19a_benchmark.json +++ b/fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate25-19a", + "asset": "fanuc_lrmate25_19a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate25_19a/.metadata/lrmate25-19a_validation.json b/fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_validation.json similarity index 97% rename from fanuc_lrmate25_19a/.metadata/lrmate25-19a_validation.json rename to fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_validation.json index 4410f726b0d2f6fef3b4fb14706b2c5c1b28bf52..e77bbd4c18c0a5f1ad2d01c6a239790f772b4534 100644 --- a/fanuc_lrmate25_19a/.metadata/lrmate25-19a_validation.json +++ b/fanuc_lrmate25_19a/.metadata/fanuc_lrmate25_19a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json b/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json index f256d58184f00c36154e558d02ed3c0ef389c026..e6aab9a7a5c99a451e663253ae5ac44bcc8a52ae 100644 --- a/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate25_19a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7cbb8635872168611b141ef70c908fe62d0ed1c81fa151eea1c3f6559535fa3c" + "sha256": "b2857ca10c97be9e43d88a433132d24bb3580f4ced66a15766354d5cf4733ac4" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "75c785eec75b523094bdf0cbafe249ba138295076ab09008db44f1f0ea006cc9" + "sha256": "dc64fe483c372492ddcd47324f4a194cdcfc2e9c726819ebe734c492161fd361" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate25_19a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "43b2005236f937072fedbb30e2edbcf4c4ff67e0f2910a987f8c6d561efa51a7" } }, { - "name": "lrmate25-19a_benchmark.json", + "name": "fanuc_lrmate25_19a_validation.json", "hash": { - "sha256": "6ef8f9c81bf544ee220e1f253a1c147444135a3ae7d0f11d780241cd24a15245" + "sha256": "c56538a49cc6b19f1493c3420a7a26369480f7a0dcd019c2ded222d68b30308f" } }, { - "name": "lrmate25-19a_validation.json", + "name": "license.txt", "hash": { - "sha256": "92db24339ee5bf21b1cbeb461ae70bc608aa0bc7a523d32ab1110443749bcfae" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "3113de272698e78f6e23054abdc6e327339caed0afcd85ffa6f68397ca636690" }, "package_hash": { - "sha256": "2e06ca0470baf081c6640c04925afc4452520293326c9bc242b56ce9ad0f106e" + "sha256": "637e8ce74cc080ec1252f8702464dd5babd51f86735bbaddf2ef750ceeb7c79e" } } diff --git a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f15019f227ab8dff069d41d8d14fd6c20cae3484..f9c0bbbef51318e4270f1b8ad6da2228e04c0460 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:34", + "timestamp": "2026-11-03T23:32:29", "assets": [ { "asset": "lrmate25-19afc.usda", diff --git a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index ae43299b6160e0748ca8b3719fbb11a15a82c15f..0d4f08b72febf91c9f3f01a26584489a41eed239 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:37", + "timestamp": "2026-11-03T23:32:31", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json index 8ae4a3e51eea82e93e2badd4bcedab804e23cd81..58d688bf6c3aa6377e7bd7fe07eef3d6ffa04191 100644 --- a/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate25_19afc/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate25_19afc/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate25_19afc/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate25-19afc.usda.png", diff --git a/fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_benchmark.json b/fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_benchmark.json similarity index 99% rename from fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_benchmark.json rename to fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_benchmark.json index 1bcfcaf15dade8d8ed602410bc2c9d83454409a0..86679d175aebf17c38dbf3266099670050a017c2 100644 --- a/fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_benchmark.json +++ b/fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate25-19afc", + "asset": "fanuc_lrmate25_19afc", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_validation.json b/fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_validation.json similarity index 97% rename from fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_validation.json rename to fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_validation.json index 924e847fc9b84527a0b3e4e04bf91571e34463f9..413bf8b6443dd717c5adfbf324eed4062e801dfa 100644 --- a/fanuc_lrmate25_19afc/.metadata/lrmate25-19afc_validation.json +++ b/fanuc_lrmate25_19afc/.metadata/fanuc_lrmate25_19afc_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json b/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json index e36293379ea7970e37372f8f089c56cbc3337a9c..0693e2d411bf348a3d5285b7fbddeff132470d65 100644 --- a/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate25_19afc/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19afc.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate25_19afc.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "dbe6534abdbbb75878cdf005489caeb21ad44230470ad192dc2a887ecb1a82c7" + "sha256": "4d7eb6a89f6c03f6cfcff75c1af851cae39cd82bdea60b998787369d6da18841" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "dec4af752f5fa772d2c97f98f14196d46bdb9a3939558341eebba5ea64c19389" + "sha256": "ecab424bccdcab74178915f56812b83138061a65836ca2aa21ce750dce7ccbfb" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate25_19afc_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "8f6cbe3ab195c020455160e5514dfdb0ed130d0bc377354d2d46a227a38c7539" } }, { - "name": "lrmate25-19afc_benchmark.json", + "name": "fanuc_lrmate25_19afc_validation.json", "hash": { - "sha256": "15cbf5db486e5e408369454df9826402acc78327a1d068692a8759e3449fc638" + "sha256": "b6f3a2f9714a09d3670d7f4ff2a53060bc42e5425169ac2625b811b639ee4dc8" } }, { - "name": "lrmate25-19afc_validation.json", + "name": "license.txt", "hash": { - "sha256": "00c0a04fdae141eeb2f0f38c61d9de81a1ce16d617e81dc8cd8b33448ee2de32" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a917fe1c0a166667d140f2bbaeffa2807715f5fcbfc586e4dde83e493eda58a5" }, "package_hash": { - "sha256": "f2a9fd7ab7afd749049ffcdc515b6bbfc824a984b80e465f5bbdd51d2738038b" + "sha256": "35839ec2ab6a5cfa1decffa500afc84b47bd84f38261d3c5c044301f1a2df419" } } diff --git a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 81ed82dfd58cf7c7677343d0ccaf666a155d7519..f73123f40bf62c5dcce2e45d156696ce84a5c38c 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:38", + "timestamp": "2026-11-03T23:32:32", "assets": [ { "asset": "lrmate35-14a.usda", diff --git a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index f59aee82a910dbd624054febcb6a55d66fedcce1..e3d12528f7d79f4690f8c872fe40911fa876fa1b 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:40", + "timestamp": "2026-11-03T23:32:34", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json index 6225ecc70e50de2ebe1868d551e263f924e64547..2ce5fa205116c4fab804dba9025a58eaf446e97c 100644 --- a/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_lrmate35_14a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_lrmate35_14a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_lrmate35_14a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/lrmate35-14a.usda.png", diff --git a/fanuc_lrmate35_14a/.metadata/lrmate35-14a_benchmark.json b/fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_benchmark.json similarity index 99% rename from fanuc_lrmate35_14a/.metadata/lrmate35-14a_benchmark.json rename to fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_benchmark.json index 2a7d1b88243c2a6a663bf14d163f76ceed4a9ed0..2546010b55ebe8b511621488befb02eb6758b384 100644 --- a/fanuc_lrmate35_14a/.metadata/lrmate35-14a_benchmark.json +++ b/fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "lrmate35-14a", + "asset": "fanuc_lrmate35_14a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_lrmate35_14a/.metadata/lrmate35-14a_validation.json b/fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_validation.json similarity index 97% rename from fanuc_lrmate35_14a/.metadata/lrmate35-14a_validation.json rename to fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_validation.json index cd9e8eb5b64eb5d5bb7639ace68f0bd712a2585c..cce105ccaa1a1cb61777a15e975856fda6c1e732 100644 --- a/fanuc_lrmate35_14a/.metadata/lrmate35-14a_validation.json +++ b/fanuc_lrmate35_14a/.metadata/fanuc_lrmate35_14a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json b/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json index 663a1a939f1397477af7c02dd41f5b0e37dac19c..4812bb228ddcebc532021a36f3f7f1ffbe284e19 100644 --- a/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json +++ b/fanuc_lrmate35_14a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate35_14a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_lrmate35_14a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8246b287939c7417bcbb5a7b75b192848d9bca17a36a0f39c53de781ab65cc8f" + "sha256": "65b4dbe585b06ae1dff6589b9c564e2583e96b42a2d07c53523cc5811b06f4b0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2d4bb11dfb86d007b10bd7ab2400b3f739990e8ca26efb4b5b74c14051795e66" + "sha256": "98874d8814416edf12d0d8763f412db6f12ebaae8b6f751119f4ec9b807c85e7" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_lrmate35_14a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "64c65a75aa10a7e91b6ddba68b5389962019ddfe29d8a37d9fa009584ccade1e" } }, { - "name": "lrmate35-14a_benchmark.json", + "name": "fanuc_lrmate35_14a_validation.json", "hash": { - "sha256": "5ecf121815863ea252ed136396a7eb3c217a60d13b5ee1865d5f53bb97dcf44c" + "sha256": "bccb33847e5bd47d342005eb2bb63c7bc99a2d12516ac57fd0758e55cf2730e2" } }, { - "name": "lrmate35-14a_validation.json", + "name": "license.txt", "hash": { - "sha256": "0027713af7802985942cb02d0651f2962676af129ac2b76bd8997677c0dd2af2" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "0465e9a6e48b78a6eb912bc0fef263e690739a8719a60259222bdd3df55f67ea" }, "package_hash": { - "sha256": "547e76e9bfc2c0783e9edb5e0ce0b07ec82dfb21ad6bba3498b5db6f1084aaf5" + "sha256": "c1abf0109c27b31265f717cdb5e98a12a8f73263e2c3f0c251e48fa5f1575b79" } } diff --git a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 29e14f398eb7d9ea18588b9f92f6b663797b09cc..6c1a94226e008314068d2d19e2248ad35da8aff9 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:04", + "timestamp": "2026-11-03T23:32:53", "assets": [ { "asset": "m10_10-16d.usda", diff --git a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index a20aee7ce18b931f84216b78ed4d4c60ecdb4be3..49d522b2ea94e1d4fa7e80f5466733e442f360a6 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:06", + "timestamp": "2026-11-03T23:32:55", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json index 7f233b828f9766a3b49eb65b5397184f86b82714..29d1fb2b947f5e63eb12badecd31d3ed057eb72d 100644 --- a/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_10_16d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m10_10_16d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m10_10_16d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m10_10-16d.usda.png", diff --git a/fanuc_m10_10_16d/.metadata/m10_10-16d_benchmark.json b/fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_benchmark.json similarity index 99% rename from fanuc_m10_10_16d/.metadata/m10_10-16d_benchmark.json rename to fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_benchmark.json index 124def15172b97af3e3368b2302ea220bfcc0f06..a2a2ddfac27a075e557d8c05f69a8df0d8b6cc35 100644 --- a/fanuc_m10_10_16d/.metadata/m10_10-16d_benchmark.json +++ b/fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m10_10-16d", + "asset": "fanuc_m10_10_16d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m10_10_16d/.metadata/m10_10-16d_validation.json b/fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_validation.json similarity index 97% rename from fanuc_m10_10_16d/.metadata/m10_10-16d_validation.json rename to fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_validation.json index 4de727544258fc34a32114a6bb0cd90ad44e2077..fe73653abd2b6cf2090c222a52be5ee1054bf774 100644 --- a/fanuc_m10_10_16d/.metadata/m10_10-16d_validation.json +++ b/fanuc_m10_10_16d/.metadata/fanuc_m10_10_16d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m10_10_16d/com.nvidia.simready.packaging.json b/fanuc_m10_10_16d/com.nvidia.simready.packaging.json index 11fb4428ced47b1a76c575664acf4281cecc6758..caad5a0f39b89d3723d8119af3e257024e788368 100644 --- a/fanuc_m10_10_16d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_10_16d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_10_16d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_10_16d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "986ff8bf80e09bbf5c4ebc116bd32caed5d11c818f24a96c56edb839fed5da66" + "sha256": "4eda112eefc8d649e37a44734d20b3e5d395375c4170029adb1834d23f08fb7b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "92ce4ec6e2185de67f1cbbe1cff28523535e474a20fe6bc0a3c53d54350b2d32" + "sha256": "b2fefe4fda163faa08aec3b98838743c75dbdfd15ffd5a672ea3fd6b96a4536b" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m10_10_16d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "858069ab50da0bf548e2e637cfeade00ed98ca99c04ad709f79c3fc1b95fa18e" } }, { - "name": "m10_10-16d_benchmark.json", + "name": "fanuc_m10_10_16d_validation.json", "hash": { - "sha256": "ec30331847218adb4478981e17a55e6d71e6f3c2f9dd3983224a9332507bd7e2" + "sha256": "9d6f6bfd157d1d192e9fae6a97692a7748fe34771f0307b84d79491a52476744" } }, { - "name": "m10_10-16d_validation.json", + "name": "license.txt", "hash": { - "sha256": "18a9eb3a865cc9123a6f322ecfc81076e9567aa26f72d2f0b89497be3d9d565b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "066296459b785fcb1bf19776b078261e74af31a5a7aeef9f341a830955893663" }, "package_hash": { - "sha256": "667db20db4cb19a83d4bd5cf2d47dca26ac1845017d297ce0ae82cf4a9baf501" + "sha256": "20eb12ae557f5b566b81c324dc836478fac45c53e6b25004261dd102661af135" } } diff --git a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 93c30edaabcf175dd257f7e8488019284d69c133..7de3fd06d229d6511673e468dab28a43e763866c 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:07", + "timestamp": "2026-11-03T23:32:57", "assets": [ { "asset": "m10_12-14d.usda", diff --git a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 081702500dfc16eb7aa05617814b73e4555ddeb4..9ba391c1dc835ce77db2a57d70b118cda5bf6ce6 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:10", + "timestamp": "2026-11-03T23:32:59", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json index 9645ce09e143710109e8acd3c51a5eadbd053e94..cd44e1abfb1e4c4165f15054a21a76315ca2cc37 100644 --- a/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_12_14d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m10_12_14d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m10_12_14d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m10_12-14d.usda.png", diff --git a/fanuc_m10_12_14d/.metadata/m10_12-14d_benchmark.json b/fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_benchmark.json similarity index 99% rename from fanuc_m10_12_14d/.metadata/m10_12-14d_benchmark.json rename to fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_benchmark.json index d0bd958fcecc1c50d72326a20c207ed58a66099d..a8b12499893dd258e5b9f0e0437d8f51316ee5b7 100644 --- a/fanuc_m10_12_14d/.metadata/m10_12-14d_benchmark.json +++ b/fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m10_12-14d", + "asset": "fanuc_m10_12_14d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m10_12_14d/.metadata/m10_12-14d_validation.json b/fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_validation.json similarity index 97% rename from fanuc_m10_12_14d/.metadata/m10_12-14d_validation.json rename to fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_validation.json index 815a710eb1c69d4b3b06c7a2317e751ba77267e3..cf3c2dbfb89d4ab8532bcf0b9047e52fa5dfd000 100644 --- a/fanuc_m10_12_14d/.metadata/m10_12-14d_validation.json +++ b/fanuc_m10_12_14d/.metadata/fanuc_m10_12_14d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m10_12_14d/com.nvidia.simready.packaging.json b/fanuc_m10_12_14d/com.nvidia.simready.packaging.json index 3e0bdd8fac822008138a5722fd94d25e949b7bf6..72e1db7caa388cf3cd1dbb2679c92b58328f6b0a 100644 --- a/fanuc_m10_12_14d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_12_14d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_12_14d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_12_14d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7fc0639c88173f81ca963ed1db5bddfdc7fa1715c25a28258ed9a0fcd992e8e0" + "sha256": "fb4c4c402c7c8ac9aa514fb8a025259d7629f7fa8b330a6d68f66dbc8a2eeaf8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "42b699b9b920f3095be90cb1905b1c1b6817176d734fb9bcdfc2c56f8bb4335c" + "sha256": "fa7ef8090391b17a31757bc70036774dd392ff18784ea20fc645b1315fca9c86" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m10_12_14d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "684ac56e2f6109262a686fc66054d3fdcb39e5844c9c6e93cf22a242ee6fdbce" } }, { - "name": "m10_12-14d_benchmark.json", + "name": "fanuc_m10_12_14d_validation.json", "hash": { - "sha256": "535a2d6f511235aa2e8e9e1f4301b6e8c735c310e90a6752e44a37140c607f72" + "sha256": "27d76b91c4f246eb2fa47782e9633e886f6d83c0b5a2e737ed3fd18879e2475b" } }, { - "name": "m10_12-14d_validation.json", + "name": "license.txt", "hash": { - "sha256": "32b9eb5e9b76a381fdaa2ad742adbe2ad7249a30d61f3ddd4cacbddcde4ab2a5" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "bb1139803f4aceed36e07008ed25d899ad2100f82114a523b696bce00f5924a1" }, "package_hash": { - "sha256": "ad7405323a38bd05583813672cca8730d0ecd0929ee633e6e899c3c09ea5ebf7" + "sha256": "96f87edab8f6ae9f7e8d7fd5de49de5b9d680ab732e483bcae70641dd2372ade" } } diff --git a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 22923c02a683c666b571f709b63f825e22739e93..ceef929df294143b36a4956aad9c3d7152d2588e 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:11", + "timestamp": "2026-11-03T23:32:59", "assets": [ { "asset": "m10_16-11d.usda", diff --git a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3b11916e500dedd41984cabf3cd315e8ec7b0edd..daccb752120b14c6382fcdf60cddf123bd5b3b74 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:14", + "timestamp": "2026-11-03T23:33:02", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json index 924dba187eb1b0c8b500f09c2c5f3dff89f9689b..63af43002815a9bdb64032a79cebc118446cf58b 100644 --- a/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_16_11d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m10_16_11d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m10_16_11d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m10_16-11d.usda.png", diff --git a/fanuc_m10_16_11d/.metadata/m10_16-11d_benchmark.json b/fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_benchmark.json similarity index 99% rename from fanuc_m10_16_11d/.metadata/m10_16-11d_benchmark.json rename to fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_benchmark.json index 6af7fd229fd8c855653eef6c0875c7502b0b93cc..70fda7e0b9d279eab7708375892ce68a835a72c4 100644 --- a/fanuc_m10_16_11d/.metadata/m10_16-11d_benchmark.json +++ b/fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m10_16-11d", + "asset": "fanuc_m10_16_11d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m10_16_11d/.metadata/m10_16-11d_validation.json b/fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_validation.json similarity index 97% rename from fanuc_m10_16_11d/.metadata/m10_16-11d_validation.json rename to fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_validation.json index 130a5ab9b839c70091d12aa8e3710fe94cb71abd..ff0cb8cbb80fb058650ac24b441cdeddf0d8e90e 100644 --- a/fanuc_m10_16_11d/.metadata/m10_16-11d_validation.json +++ b/fanuc_m10_16_11d/.metadata/fanuc_m10_16_11d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m10_16_11d/com.nvidia.simready.packaging.json b/fanuc_m10_16_11d/com.nvidia.simready.packaging.json index 40cb0182d9984c4e1bc199d1f3f85fc5d2cf41df..58f9a997e985d46a280e22fcc7016c450e959951 100644 --- a/fanuc_m10_16_11d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_16_11d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_16_11d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_16_11d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fbbd4ec419cccd02b07949bae867e6ff599690c8a66702b35c1dc6a8ecf53148" + "sha256": "367e70bf9ca1326b70533007fde42a61b2e7445e0a13fae0a78ecd32e316adb8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "150ae818744a3d59c301d7ddd71f94239d523801110f9038f72b9e95bcac7a52" + "sha256": "2ce39916b97c3ab7368ff028afff7208002ce588628276fcc208678e7006deee" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m10_16_11d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "a752f222e0bc8b0dcf663f05f57b7de6f37216efd852127ad23b539330ffc5dd" } }, { - "name": "m10_16-11d_benchmark.json", + "name": "fanuc_m10_16_11d_validation.json", "hash": { - "sha256": "a96bd373ce370ee6ee84950816719782874724fa8e82ba3115ca7b4736cdfbe2" + "sha256": "4d3a98127db3d15caee9028c400b3e6c69586c8a319d1b3f67401c9e3492ad72" } }, { - "name": "m10_16-11d_validation.json", + "name": "license.txt", "hash": { - "sha256": "3b45a415bd24df4dd24c3e79107554ef32e4d7e9852fba8f7868d4e76ce3107b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "baa694689341373b24dff67dd89439a23fabf1774422bd3b1ab3cc1b8ad261df" }, "package_hash": { - "sha256": "5c6568d0cc43a112e202cc30e99611e7bbf8f711e2261c9750345860a009bb6e" + "sha256": "a16a286a7d88fcdc29ae5a12ae50e64cb30f522b3fb4cad5e70ec6add47f96ca" } } diff --git a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8a813c4a6bfbba8e03558ae5c600645c255300d2..dad36ea3ae8e3825725fcc3a8ba7d01ae6e3cccf 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:15", + "timestamp": "2026-11-03T23:33:03", "assets": [ { "asset": "m10_8-20d.usda", diff --git a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4aee267fe070af6cbf217e1188f280dccc62e7b8..17f1b8ce89afbfe704912362bc84363234b383d7 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:17", + "timestamp": "2026-11-03T23:33:05", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json index f3d0249d92ce86821dec1bd0e784fc12449675a0..4def41750007be814f966ac8e688ed16a4523e39 100644 --- a/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m10_8_20d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m10_8_20d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m10_8_20d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m10_8-20d.usda.png", diff --git a/fanuc_m10_8_20d/.metadata/m10_8-20d_benchmark.json b/fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_benchmark.json similarity index 99% rename from fanuc_m10_8_20d/.metadata/m10_8-20d_benchmark.json rename to fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_benchmark.json index 0e01a71187d3167c7290be0a26963efdf7da02e1..d09ecec612cd16cfc86816a57cbe464c58df548d 100644 --- a/fanuc_m10_8_20d/.metadata/m10_8-20d_benchmark.json +++ b/fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m10_8-20d", + "asset": "fanuc_m10_8_20d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m10_8_20d/.metadata/m10_8-20d_validation.json b/fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_validation.json similarity index 97% rename from fanuc_m10_8_20d/.metadata/m10_8-20d_validation.json rename to fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_validation.json index dd623e9fc45249fe10e43060a7ff9b2370038930..dc3695db851d059670f14a581b2b8a173077373e 100644 --- a/fanuc_m10_8_20d/.metadata/m10_8-20d_validation.json +++ b/fanuc_m10_8_20d/.metadata/fanuc_m10_8_20d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m10_8_20d/com.nvidia.simready.packaging.json b/fanuc_m10_8_20d/com.nvidia.simready.packaging.json index 0b4f7ac3d2283c5367106271be61ae33584b9659..b3e985da00cf61bbb7367c9858f5b8368eae0416 100644 --- a/fanuc_m10_8_20d/com.nvidia.simready.packaging.json +++ b/fanuc_m10_8_20d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_8_20d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m10_8_20d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "56de8d26be89f996363cbce3c0485af8c67a841e00362ac1d931fe5aa03e104b" + "sha256": "8c1ddfee32c2d95178dec9ca7705f48ff62478f7ac34e1f063e6d1c2028b4cea" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "94cc55a1fa3fb9bf1682193d8b052ebc41acdd0a6437d06543c20b2bca0477d2" + "sha256": "b00a2b326a2774947531c35cc4c305733bce6690026a12b23383e2392995701c" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m10_8_20d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "23676e3248f6bcec33133ca25092fb06333f913f3daac05c6eeee8170e2c70a1" } }, { - "name": "m10_8-20d_benchmark.json", + "name": "fanuc_m10_8_20d_validation.json", "hash": { - "sha256": "2fe70aa760aed1bd41a4a885eb40d2022ea72eda3171ca5d20359ebfdf0b4ff6" + "sha256": "80ab079f7971bf605e428017129e9e9f434ed927dc853ea7ba75ab0a4019b376" } }, { - "name": "m10_8-20d_validation.json", + "name": "license.txt", "hash": { - "sha256": "62f232e247a8b41668e387c3e12f07cac08e22afb519b1f0063239ca3bf24e53" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1f367f736ae7652afaadf68826d82317e98ca2e66caa825f8fbc3a0bb398db85" }, "package_hash": { - "sha256": "864404b4f26a1157396abae91bed25a74b83729ae9267c70f357625761f6715d" + "sha256": "615b5b75b3bf94ecabdf563a9fd3bb454fac91e7cdc79afba13ed3dd200d97c5" } } diff --git a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 81ea9efa592148813f15e013735cc2ef325b4d81..c4740350266c0444c510c83fd7296972bac45adc 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:19", + "timestamp": "2026-11-03T23:33:06", "assets": [ { "asset": "m20_12-23d.usda", diff --git a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b02f02b8faddd37aad3409974aa1719b3795af69..12dafa3a2dc31d45c5455e7c06cbf5bbea4d0ed8 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:21", + "timestamp": "2026-11-03T23:33:08", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json index 27deb336477a52bf378e13a937eceaf493fa4e65..321a59529e473c7a703ca7c5e99a850fe260fd80 100644 --- a/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_12_23d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m20_12_23d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m20_12_23d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m20_12-23d.usda.png", diff --git a/fanuc_m20_12_23d/.metadata/m20_12-23d_benchmark.json b/fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_benchmark.json similarity index 99% rename from fanuc_m20_12_23d/.metadata/m20_12-23d_benchmark.json rename to fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_benchmark.json index 8705429093c92db997d1a25f8ae280167fcde63d..939a35fba485e3c53e0170dc9007ca98b71d3bd5 100644 --- a/fanuc_m20_12_23d/.metadata/m20_12-23d_benchmark.json +++ b/fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m20_12-23d", + "asset": "fanuc_m20_12_23d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m20_12_23d/.metadata/m20_12-23d_validation.json b/fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_validation.json similarity index 97% rename from fanuc_m20_12_23d/.metadata/m20_12-23d_validation.json rename to fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_validation.json index 513316d6757783eef2c0014f9a0295f03de24e09..a59d693930db7a54e99bad1531e6689478057aee 100644 --- a/fanuc_m20_12_23d/.metadata/m20_12-23d_validation.json +++ b/fanuc_m20_12_23d/.metadata/fanuc_m20_12_23d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m20_12_23d/com.nvidia.simready.packaging.json b/fanuc_m20_12_23d/com.nvidia.simready.packaging.json index 5c58fc2945f9d2476d8bb2a891a9c3f4eb67194b..7ec2f682339f1a49032c6fa0d5fc711efbc40a7b 100644 --- a/fanuc_m20_12_23d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_12_23d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_12_23d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_12_23d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4e260dfd7396c0829672236cf1f1b65a94ba1f7bc125e3fbd162297d7c025eae" + "sha256": "b85063d135cd8b71424f436551d389d3bd43b7935a34a4a34b930432af330c08" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2c43ab63a1783671fee816593b3632ecbe542ae87623cce8737d9b1e5450efd9" + "sha256": "c4fbc071ce6da5d427c2bc561e555ee2a08d35d84d923e05d22e988b662f5dd0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m20_12_23d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "055990afd82202cc67449c86e1a77879236be40112f7a6104ca1226daef08ac0" } }, { - "name": "m20_12-23d_benchmark.json", + "name": "fanuc_m20_12_23d_validation.json", "hash": { - "sha256": "8c3318d0959abfd649ef1ffa9bb8f174de38e539161e11bb01dc77d4474ae849" + "sha256": "a18f47da6f0d8f279be1e5c1b2c882c6043a4850c225712629bd77531f3521d9" } }, { - "name": "m20_12-23d_validation.json", + "name": "license.txt", "hash": { - "sha256": "165cb66eedf341815636dc9405a16b2558e5a0739058937b4be1a17647768f3a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "b064e0aab5dd0a02abc9a91027bd63ba1281cbe76c08c448ef99e75d1ef4f7b2" }, "package_hash": { - "sha256": "1685e2ecfcdffae767c2d51c610e42d3acdce2c1686898a8d963ec216be6f375" + "sha256": "a82b4da48a3d87bc649b3e9a7a14f006ddccb916dc6eacd7d4cae33573266fb3" } } diff --git a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b4753565ffe2f5986686cf84ad9b724604758972..3c0897bfad9b9ca4337642391dad73c1727db231 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:22", + "timestamp": "2026-11-03T23:33:09", "assets": [ { "asset": "m20_25-18d.usda", diff --git a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 804965f32bac362778b09568a923ad0d2302f03d..274d178719acf21c66e69923ca6f19ad859ed55c 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:25", + "timestamp": "2026-11-03T23:33:11", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json index 3a70389d288615622cdbd4296219049da89daaea..93545b1197eb33055fba81b52ee7746b8e8816f3 100644 --- a/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_25_18d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m20_25_18d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m20_25_18d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m20_25-18d.usda.png", diff --git a/fanuc_m20_25_18d/.metadata/m20_25-18d_benchmark.json b/fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_benchmark.json similarity index 99% rename from fanuc_m20_25_18d/.metadata/m20_25-18d_benchmark.json rename to fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_benchmark.json index df39fde56c12cee483c5ef584af0fa9449bd0d78..a5d235a664329163958c3d0b059ad88981088be7 100644 --- a/fanuc_m20_25_18d/.metadata/m20_25-18d_benchmark.json +++ b/fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m20_25-18d", + "asset": "fanuc_m20_25_18d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m20_25_18d/.metadata/m20_25-18d_validation.json b/fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_validation.json similarity index 97% rename from fanuc_m20_25_18d/.metadata/m20_25-18d_validation.json rename to fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_validation.json index 12756c4f8c3e1f07bfbd592dfdc63b2b2f143c5b..d09a466da65711fc558715d851c9a1109d46d267 100644 --- a/fanuc_m20_25_18d/.metadata/m20_25-18d_validation.json +++ b/fanuc_m20_25_18d/.metadata/fanuc_m20_25_18d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m20_25_18d/com.nvidia.simready.packaging.json b/fanuc_m20_25_18d/com.nvidia.simready.packaging.json index 652ced6173b79573f8e4d7a336d35d1fac46404a..8d37e38c2782a56d47f8c6411782852df28b6f5d 100644 --- a/fanuc_m20_25_18d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_25_18d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_25_18d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_25_18d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e8e9dea38926f4bb59878ea2b1de1e333afd0fe4c6250d4410b7845ae83e5a46" + "sha256": "7e33541a907150669d79bac7175a20192f52e590df2c0828df7faf2b0870083b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "aa358d3c9831e87e007430b02b02d717b883da6a3964a9fd66618bd58f0d2fd4" + "sha256": "5ad91ef142e1d5a206b09e36eb8cbe308ef69d498578ac1d3414c57d4e773ab4" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m20_25_18d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "33db6e8a064e5767e4afade1c276cdf73b6434316247744afc5af141ae0febd9" } }, { - "name": "m20_25-18d_benchmark.json", + "name": "fanuc_m20_25_18d_validation.json", "hash": { - "sha256": "4a3b12e8ceb8180b767f0d3a26d766513758173380c3951d905300e2a22bb174" + "sha256": "57335db0dd2a02dbccbc6216ae64c5b381c515ee1bda0b8479a3b035d4d88c56" } }, { - "name": "m20_25-18d_validation.json", + "name": "license.txt", "hash": { - "sha256": "18954c242a0e291cae0237804a57e76dc7434679dcedc3913ea9b38f2ef5c94b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "f8e232fb0349496f7e7aba97b5671365567b93304431ae7f42a356c60b04ac4c" }, "package_hash": { - "sha256": "49711087940db41e547a5dcbd8e5148bece369576ce721fdf479b2410ab621e5" + "sha256": "fb3fee653d6e2ba1b5547de6594ec9c731c0ea2ecbbf72e2a89346adf1796e61" } } diff --git a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c38ba87bc82b109566ebaa3537e4add5b23c2d58..5df7188289e724ca6f0e16d6bf498286782a4a8b 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:26", + "timestamp": "2026-11-03T23:33:12", "assets": [ { "asset": "m20_35-18d.usda", diff --git a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 88fae4e872409876e1c0591cffebe96e81203ee5..37bc01616d45b2ab6f4c7629c5375d0be6fb4add 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:29", + "timestamp": "2026-11-03T23:33:14", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json index 8f2bf0bc59b502037d512ff7c73d03e734e3c0aa..5eb46a38878ffc170b98c29b14c69e0ee04ba5f7 100644 --- a/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m20_35_18d/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m20_35_18d/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m20_35_18d/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m20_35-18d.usda.png", diff --git a/fanuc_m20_35_18d/.metadata/m20_35-18d_benchmark.json b/fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_benchmark.json similarity index 99% rename from fanuc_m20_35_18d/.metadata/m20_35-18d_benchmark.json rename to fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_benchmark.json index a10d43a4b4b9db7bc65f06714e089bd945e29c2c..10b39b68afc52da5d4c85ecd23eb7237a6bcd5c4 100644 --- a/fanuc_m20_35_18d/.metadata/m20_35-18d_benchmark.json +++ b/fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m20_35-18d", + "asset": "fanuc_m20_35_18d", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m20_35_18d/.metadata/m20_35-18d_validation.json b/fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_validation.json similarity index 97% rename from fanuc_m20_35_18d/.metadata/m20_35-18d_validation.json rename to fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_validation.json index 4d5a21854adc295faad58e8353b887ac6565bc57..5e659a67b0ec7f6f98281437c9fbf35cc1eac7f7 100644 --- a/fanuc_m20_35_18d/.metadata/m20_35-18d_validation.json +++ b/fanuc_m20_35_18d/.metadata/fanuc_m20_35_18d_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m20_35_18d/com.nvidia.simready.packaging.json b/fanuc_m20_35_18d/com.nvidia.simready.packaging.json index 826ef9b768b82ad0f64076171a629aff9e1b247d..c33085cc9274d348dd8cc0f8ed251a0aeaa55652 100644 --- a/fanuc_m20_35_18d/com.nvidia.simready.packaging.json +++ b/fanuc_m20_35_18d/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_35_18d.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m20_35_18d.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ac3b16e60fd8cf47d6eb9018faf5a375dfc414b4752dcebb6b0213311e9c6dc8" + "sha256": "0312c1e3e78463eb1b6c3bd4806b94202dc4845d6de98d6db400df2bbb240f86" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "eb21cfd5062ebd3abb73160f7fbbcc415268055e391375a2ca4bfcf58d44e819" + "sha256": "042641a3be6aa2891f63d5a4878b04593b0ed1014fdf2fb1abb2057e98456c9d" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m20_35_18d_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "a0846d7109281f50fb8f10e5fdad1d8d850dd39d65f0f7babcab5069ff3d275b" } }, { - "name": "m20_35-18d_benchmark.json", + "name": "fanuc_m20_35_18d_validation.json", "hash": { - "sha256": "3b9115305ad63c70b5fa1f28ddc6c9deba559a174de5e716bc6023e08421ad19" + "sha256": "cb804122e20db1dbc667bddf7b57f12f778a41e1cebad3f6aaba7cc341ecc6de" } }, { - "name": "m20_35-18d_validation.json", + "name": "license.txt", "hash": { - "sha256": "219784e610e359aaf74e0d550da518b6395d5cd936f3b540bce0f670aef2fdae" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a1fec33f0d7087a813f64823ab724d6a20a12f4ab738ec10fdd7af73ef2e03ca" }, "package_hash": { - "sha256": "550cb7dbd3262a4499ffea2fb76779a9a1baff90fd739cb79ca4b82b36b627c0" + "sha256": "b293673a7031d4a72dd2089258b5da96ce628b04bedfdc3182b5df4e7ccfcf0d" } } diff --git a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c35c3829b4a34e82352ec4ab79f392d12e20f1d9..52a7f3c6fb3eeb881410d6c65a88e055ad9e9b32 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:30", + "timestamp": "2026-11-03T23:33:15", "assets": [ { "asset": "m710ic_12l.usda", diff --git a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 63b34b401866d840ef15b86e65595c3c16b94103..51de885f8862319f34f30d200bf51e43117284aa 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:32", + "timestamp": "2026-11-03T23:33:17", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json index 718fd121be6857a12a853c255fd49543337ea05c..6d30005c1a23af744bd16934b6d75d495d2265eb 100644 --- a/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_12l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_12l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_12l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_12l.usda.png", diff --git a/fanuc_m710ic_12l/.metadata/m710ic_12l_benchmark.json b/fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_benchmark.json similarity index 99% rename from fanuc_m710ic_12l/.metadata/m710ic_12l_benchmark.json rename to fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_benchmark.json index a405ac183c3501280ce3de02ce6775bb455fce5f..ffe88c60823c11e4ca5cf88d015995d2d692eb96 100644 --- a/fanuc_m710ic_12l/.metadata/m710ic_12l_benchmark.json +++ b/fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_12l", + "asset": "fanuc_m710ic_12l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_12l/.metadata/m710ic_12l_validation.json b/fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_validation.json similarity index 97% rename from fanuc_m710ic_12l/.metadata/m710ic_12l_validation.json rename to fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_validation.json index f19668a2d0f68f893a02a467c0d051c22ece7c88..66a1e3d05e52d82db732f5ab535b7e0f20f1ba91 100644 --- a/fanuc_m710ic_12l/.metadata/m710ic_12l_validation.json +++ b/fanuc_m710ic_12l/.metadata/fanuc_m710ic_12l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_12l/com.nvidia.simready.packaging.json b/fanuc_m710ic_12l/com.nvidia.simready.packaging.json index 72dbb6e2a41f4cf05bddf1a925e0551fcc1a2f9f..a4b899328e366223b0993c5d64e631b7a7fa7a2f 100644 --- a/fanuc_m710ic_12l/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_12l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_12l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_12l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1018c08a4b70e629dd713e120979f5c5746c2a2f946d7ba1b808a48c50593b7a" + "sha256": "caebeab2dab1bc0e180e9938a340fcb2bec869211963469df5aba4ebf04e6c13" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1b2f87b76ffd74103938d639274026ec4b6663034b7528ca718855f04501e8f6" + "sha256": "211a5a5dd3d6ab249f43a9bd3a0501282aa4195777235e3f04e051ebd4f79ee8" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_12l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "57f2882252858aa89d2c28aea721e963be34066c0023fa4701473e69baf0b684" } }, { - "name": "m710ic_12l_benchmark.json", + "name": "fanuc_m710ic_12l_validation.json", "hash": { - "sha256": "07df31b2510b6f95cd82a905c6fbaf05e52bd2052db69a429066824dcded5d4d" + "sha256": "e2834593c8424302bd5dea667414e4a0fda3f327dfd8f3ec9ef27b1a1c14046a" } }, { - "name": "m710ic_12l_validation.json", + "name": "license.txt", "hash": { - "sha256": "19b6b28700e3f2c3607c9cfdf76172a960792a0c4558c245ce455c0ae6bddb7f" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "570ddd923e0f3866076ecebdc3dfe25640704be7750085d6da30383409c81ea9" }, "package_hash": { - "sha256": "555cd9f53f010a9dbfa1ef0f75c00fb6a4855d98765d0eaac189be68b674e9e3" + "sha256": "ad0125fe3bb5565e41e4a5efb0a8b48caa8ac61d487abdaddb295942ff8d151b" } } diff --git a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6cfa83d650d515bb4b2725e98d476ea5e61beeb9..9401b7eaf2fa4ebe8ce1de2fc1cb570ff1e508de 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:34", + "timestamp": "2026-11-03T23:33:18", "assets": [ { "asset": "m710ic_20l.usda", diff --git a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b64999040725aa3bcb21b33d56f16b776bcbc158..0832b3e53ea6df89dbd2b64750560367c32cc561 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:36", + "timestamp": "2026-11-03T23:33:19", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json index 77f8c806a3136721179e9070ceaead6c3d9ab880..4de5c55fe452aec6d4cf8b43668250933e673cff 100644 --- a/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_20l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_20l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_20l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_20l.usda.png", diff --git a/fanuc_m710ic_20l/.metadata/m710ic_20l_benchmark.json b/fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_benchmark.json similarity index 99% rename from fanuc_m710ic_20l/.metadata/m710ic_20l_benchmark.json rename to fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_benchmark.json index b2512723ac968587d61010fe1c165a7fa651cec8..36b0f2ecafd81c68f302c0e96781529993c94c88 100644 --- a/fanuc_m710ic_20l/.metadata/m710ic_20l_benchmark.json +++ b/fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_20l", + "asset": "fanuc_m710ic_20l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_20l/.metadata/m710ic_20l_validation.json b/fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_validation.json similarity index 97% rename from fanuc_m710ic_20l/.metadata/m710ic_20l_validation.json rename to fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_validation.json index 79ad663f08495c59dbedf1c58de1d836ddf96c58..c7541bf09f886e023b406a8e6eb216fcbc46c5c7 100644 --- a/fanuc_m710ic_20l/.metadata/m710ic_20l_validation.json +++ b/fanuc_m710ic_20l/.metadata/fanuc_m710ic_20l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_20l/com.nvidia.simready.packaging.json b/fanuc_m710ic_20l/com.nvidia.simready.packaging.json index 171a182ebfbd6a0c49b0efcd270dc056cd75dfde..8cd89bfd75cc1a53672b794f4fae0faff92ab83d 100644 --- a/fanuc_m710ic_20l/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_20l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f18a25711c09df98db013ec89e5acd3c815b1b0b649844b0b4e8db5cf9ea6805" + "sha256": "482d5497f6e12de95b6aaf87bb59d85a1b79afec5cdd158f4be1c12a0618ef85" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "91289d8142f3ee5d0d74f3c3e071a96ffe6ef0351d2068d3f31105fcaa4a613c" + "sha256": "012059f725f5f5ef65903fa08c363acff6fd7c5815ef31ad0a2f8b2736597b0b" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_20l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "657f0862cc097fe095c35eedc3c24dc13fb296f81eb2ca7af48bcab7169266f7" } }, { - "name": "m710ic_20l_benchmark.json", + "name": "fanuc_m710ic_20l_validation.json", "hash": { - "sha256": "dcacffc3a6d828c21bb3badc8cafa98559d1cfdf9eaef01549ddeef8a804def7" + "sha256": "d1ca250cbd66e75a7dea2050022ff80f28dfc7bd56d7487966a1d3c8089f996f" } }, { - "name": "m710ic_20l_validation.json", + "name": "license.txt", "hash": { - "sha256": "9578f0c4b6c12309f5748b40336453063237270261c4b13f17fd7ed98bf0a31a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "cda780444d55e4a49e339dee2867962388c881d7a25a6bd5e5d59f87f5fa51ee" }, "package_hash": { - "sha256": "ff304d89a80e842d5c98501082f33f1b879984f4d035be14255c2e6f6f63b303" + "sha256": "2374d3e883148e51a4196d59f7aab962857e7bd7dd58e07c83848a5e0e0b739b" } } diff --git a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0822a232c764dc5ec65d1707c112b66a4a67ca7f..ad6693dbd10a3bd4d09eb4e92fd15256cfbbfce2 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:38", + "timestamp": "2026-11-03T23:33:20", "assets": [ { "asset": "m710ic_20m.usda", diff --git a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index eab3ae2ed3baff221add589f0f226ea0bf712bc4..dac247f6ad1353bd05a611c656ac74eb51b93a31 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:40", + "timestamp": "2026-11-03T23:33:22", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json index e4d3e67eadc27869219c96e8208bae75a683de4b..53fdbb551ba2ce8e38e51b033918ef9ef631f082 100644 --- a/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_20m/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_20m/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_20m/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_20m.usda.png", diff --git a/fanuc_m710ic_20m/.metadata/m710ic_20m_benchmark.json b/fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_benchmark.json similarity index 99% rename from fanuc_m710ic_20m/.metadata/m710ic_20m_benchmark.json rename to fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_benchmark.json index 74081fc549b18bd0e08aed40bc7a7ebf8d9692f6..d22929c5e8caf2577cf83209c439f338b21a057f 100644 --- a/fanuc_m710ic_20m/.metadata/m710ic_20m_benchmark.json +++ b/fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_20m", + "asset": "fanuc_m710ic_20m", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_20m/.metadata/m710ic_20m_validation.json b/fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_validation.json similarity index 97% rename from fanuc_m710ic_20m/.metadata/m710ic_20m_validation.json rename to fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_validation.json index 51ad67c8bfc62037d7e9c3d81d93a3816adeefb0..302d9a3edb29a6636c1fb0d6842c3bb8f909f7f8 100644 --- a/fanuc_m710ic_20m/.metadata/m710ic_20m_validation.json +++ b/fanuc_m710ic_20m/.metadata/fanuc_m710ic_20m_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_20m/com.nvidia.simready.packaging.json b/fanuc_m710ic_20m/com.nvidia.simready.packaging.json index 8da4761947d3af7d9f833390a453c3063cd759e5..d9c10716c7d5feb57830e5ec918d740ace6958a6 100644 --- a/fanuc_m710ic_20m/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_20m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20m.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_20m.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "57691e2202d997c099415bcdc94b9ac4c1a9ef4c1c569af5760dd693eef6f8fb" + "sha256": "f017e0289758bda83a44d26b5c72fc64b57a10cc9f8bbaa0c93b7983f3e28573" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "97ca8edd54790a2ca1f10650e8226541928c32339fb7be39802a442771612103" + "sha256": "0a72151a11b812403a1c1cfd8a1e34e00c5df8a58e68fe92ff2a0bfaec5f3610" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_20m_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "6b399b9158f4de69d8962e9ac5db74bcab3a3d70f38d8a39d82211674262b62d" } }, { - "name": "m710ic_20m_benchmark.json", + "name": "fanuc_m710ic_20m_validation.json", "hash": { - "sha256": "86ad4147162504e09be60d5d98a25979dd820e24bab10d6fe26db5c5d23920fb" + "sha256": "7bf4fbf86f7676d1c3f050aa05f0683ab52240438f0738adc96a75983803d58d" } }, { - "name": "m710ic_20m_validation.json", + "name": "license.txt", "hash": { - "sha256": "bc530c77139b41146385b33c69a4fe5f96f3568639b7226ea163b337c21bdd0a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "e5242ff546b519bf16f55cc51d2ff18f136e8906ef09bf75512b3a473b98252d" }, "package_hash": { - "sha256": "34e7f2d172a9b7aba1573137462947ca755038848588e834540a746b074ee49f" + "sha256": "716338baa7b42025e649cce97cc336f7619eb0eba1b74013a001d8493999fa5c" } } diff --git a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a79dab8f039bf284ec951fc2956340eb2fb99904..e412c600d4ad83269fb5610414ba1367f9d5682e 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:41", + "timestamp": "2026-11-03T23:33:23", "assets": [ { "asset": "m710ic_45m.usda", diff --git a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index de478b9bd429f28ffdbd728d33e252869adfebc1..10da56ff9ea983bd77253f5dead55f2972734349 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:44", + "timestamp": "2026-11-03T23:33:25", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json index 38b4c1e8efa903c2488bf26fbd759f0ece971cef..77c47301455b00d83d22bd2c2ae67875c235fe90 100644 --- a/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_45m/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_45m/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_45m/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_45m.usda.png", diff --git a/fanuc_m710ic_45m/.metadata/m710ic_45m_benchmark.json b/fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_benchmark.json similarity index 99% rename from fanuc_m710ic_45m/.metadata/m710ic_45m_benchmark.json rename to fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_benchmark.json index b0c7771bbc6704d76286ff8f7678de058246b107..253fa8207ced61ce5d24dd5c795396e9899ad0b1 100644 --- a/fanuc_m710ic_45m/.metadata/m710ic_45m_benchmark.json +++ b/fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_45m", + "asset": "fanuc_m710ic_45m", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_45m/.metadata/m710ic_45m_validation.json b/fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_validation.json similarity index 97% rename from fanuc_m710ic_45m/.metadata/m710ic_45m_validation.json rename to fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_validation.json index d7566076222428692cfd52385852dc52e7502d81..ec9454deea394af1e426f15d3dd04413efacf42b 100644 --- a/fanuc_m710ic_45m/.metadata/m710ic_45m_validation.json +++ b/fanuc_m710ic_45m/.metadata/fanuc_m710ic_45m_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_45m/com.nvidia.simready.packaging.json b/fanuc_m710ic_45m/com.nvidia.simready.packaging.json index b37b4b014dc782ac3196744baf53e23ce6285189..c81566c27bc3875013a927c7bcb1950fea9b36aa 100644 --- a/fanuc_m710ic_45m/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_45m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_45m.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_45m.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "03ccb665d51b70de33b4ae9564b03b0a020807d4a13ffc763018e8750e6acbed" + "sha256": "6dd585a51d4ff49f9d84af52d0c36dfd0c81b82d8db21dac003e4c664bd69e3b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3928d2f01e08679a9b87978b2276b55a2480123441abe8ef559aa0cc3761cb6c" + "sha256": "29dbc5076f4ed2f39202f23a2a582f09a382f9981eaa521e5a53bb7513620e8e" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_45m_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "58b301dfcf045cb6bdcf86d963471ddda5389a2a98d54a49131f6e5b6e118316" } }, { - "name": "m710ic_45m_benchmark.json", + "name": "fanuc_m710ic_45m_validation.json", "hash": { - "sha256": "9c2393b8e91aa5544dc388d2150d5a823d376504b1818535497c7773f5f12bd3" + "sha256": "d39983abf53ef9effe9d504078d147024ad1d533b0709c6a10576eacc038b2e7" } }, { - "name": "m710ic_45m_validation.json", + "name": "license.txt", "hash": { - "sha256": "a1ccf1abaa2124538d20e77aa0fcb54cde7e1afec9dfe7b3e77092842e12f4f0" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "78e6e858d56ac723040623e62dfee147701e12d8badd39f0797a3386c4592e96" }, "package_hash": { - "sha256": "9ebf45afa7e906b9773a06bfdc51ab0ba88378692bc818634fb31a3d39909cde" + "sha256": "e13ee737121be641ab333858ad7fde83c1485124e0bcdd5245d63069cc20d244" } } diff --git a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5a26f3e7f35ae9079ab330cf93af1df250d178b3..43072ab93172856d687758bd24c4cf4511f6eec2 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:45", + "timestamp": "2026-11-03T23:33:26", "assets": [ { "asset": "m710ic_50.usda", diff --git a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0bf2ba8fb960f9a1c5ad1061c74d4b1540c81fd6..739e56c3e7db1e2e1157fb187cfa1adbddcd8315 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_50/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:48", + "timestamp": "2026-11-03T23:33:28", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json index f341eeba4b97bc59958b6096505b5bc9b6bc6db9..ad6477f24882681ce2904fa466a136ea35d4ae99 100644 --- a/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_50/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_50/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_50.usda.png", diff --git a/fanuc_m710ic_50/.metadata/m710ic_50_benchmark.json b/fanuc_m710ic_50/.metadata/fanuc_m710ic_50_benchmark.json similarity index 99% rename from fanuc_m710ic_50/.metadata/m710ic_50_benchmark.json rename to fanuc_m710ic_50/.metadata/fanuc_m710ic_50_benchmark.json index 83b665c2945ed0fb9c8de79f4e7a9c303d522cee..3d8020eec94286398566dc3a43efd5e88936a1f2 100644 --- a/fanuc_m710ic_50/.metadata/m710ic_50_benchmark.json +++ b/fanuc_m710ic_50/.metadata/fanuc_m710ic_50_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_50", + "asset": "fanuc_m710ic_50", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_50/.metadata/m710ic_50_validation.json b/fanuc_m710ic_50/.metadata/fanuc_m710ic_50_validation.json similarity index 97% rename from fanuc_m710ic_50/.metadata/m710ic_50_validation.json rename to fanuc_m710ic_50/.metadata/fanuc_m710ic_50_validation.json index 4169365a9809fd890cf9fb17f4370043a86cd6ce..d281c37be40831c8014f1cbe1e8c352d128076a5 100644 --- a/fanuc_m710ic_50/.metadata/m710ic_50_validation.json +++ b/fanuc_m710ic_50/.metadata/fanuc_m710ic_50_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_50/com.nvidia.simready.packaging.json b/fanuc_m710ic_50/com.nvidia.simready.packaging.json index d6319a0b8854059894c7111b0369b3b0a02a394a..5aaeccc3453ba614ddd19abca5153725973636e6 100644 --- a/fanuc_m710ic_50/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "32e93c362f09f3c87956c7834233743c0df100dc574ad29b7bee01568db7f3a3" + "sha256": "3124e6e4a9ae9624d1f79c88ed4d0ef93bed79eb4d4e671af629240cd33abee5" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2febc75c4482837a929606ac27ac689a0f28014138e4c60e7561bcc16d47845f" + "sha256": "97becf2475338173c11e00c6d84a31db495c35682e8ecaa3f41d47d58b570ad1" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_50_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "307b00ae15e4ce959b9ebfb18eaba428eb32321af25f87d26c6a1eafc6b0e781" } }, { - "name": "m710ic_50_benchmark.json", + "name": "fanuc_m710ic_50_validation.json", "hash": { - "sha256": "b6cb7dabc74da93ca4efaa71dab6a4b64898f0ba82f51a074f1713c54a12df32" + "sha256": "4146904e7d6651c6cf564e98f22fb1ebecbcc5d39beca517f2c3f29d394648bb" } }, { - "name": "m710ic_50_validation.json", + "name": "license.txt", "hash": { - "sha256": "d95bfdca8b6b209f95541ef79a2588dc07d6a12ae4340db5052b84fa4efbf9ba" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "4c260d0cc42b9b0b233545ccf976651af70453cf9e13eb6a0d1c9d37f03ad235" }, "package_hash": { - "sha256": "3aa13f70d50d7e21876dc966342f9b177f0487112339d6fbe3c439544d22cd5b" + "sha256": "ccd497f7373938340ebbb10681c9e955b062022bdbbb40bc6d45485ec5f90c60" } } diff --git a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5151e6890470ebc2472dc6478da8487808b44d28..1ac09e17011ebf8aab048ed37c004b7b66c0718d 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:49", + "timestamp": "2026-11-03T23:33:29", "assets": [ { "asset": "m710ic_50e.usda", diff --git a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index a62d853b4395ddf05181d57def81b56c84714249..0a5b5fc1ed46c2086cc734536fa33d9ebe921c57 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:52", + "timestamp": "2026-11-03T23:33:31", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json index 69bf21e59f4503ba80d572fc2f6ab0c11146e2ab..34fb0212f18c293218f0f2d213bf63def7ca050b 100644 --- a/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_50e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_50e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_50e.usda.png", diff --git a/fanuc_m710ic_50e/.metadata/m710ic_50e_benchmark.json b/fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_benchmark.json similarity index 99% rename from fanuc_m710ic_50e/.metadata/m710ic_50e_benchmark.json rename to fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_benchmark.json index e721d913bbb9bb06f6c847416624b4d0de334fd7..43475db7273409bf208a4ccc46376bf3dc1161b6 100644 --- a/fanuc_m710ic_50e/.metadata/m710ic_50e_benchmark.json +++ b/fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_50e", + "asset": "fanuc_m710ic_50e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_50e/.metadata/m710ic_50e_validation.json b/fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_validation.json similarity index 97% rename from fanuc_m710ic_50e/.metadata/m710ic_50e_validation.json rename to fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_validation.json index 962b284273f68e9b115ef6a9bd702d6f5794f325..c50963b7716c54a57624a76e4c26c80ada51cb7e 100644 --- a/fanuc_m710ic_50e/.metadata/m710ic_50e_validation.json +++ b/fanuc_m710ic_50e/.metadata/fanuc_m710ic_50e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_50e/com.nvidia.simready.packaging.json b/fanuc_m710ic_50e/com.nvidia.simready.packaging.json index cbb9965e330f3799500a8e5c7149bfa8e2df67f7..0be3f59431698155ff074aec61aff0966f81e38e 100644 --- a/fanuc_m710ic_50e/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50e.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1254a58eb6dca81d788a640dfe765769db510166aa00b9b683d37bb5daf8d51a" + "sha256": "2928fca298885a376dcd94eb71d2a98f112ce041b3136f7bd2863fc33dcffe52" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "74623d0e227370ef6dec5d37dd556aed59b27bdaa3eddd60a28da57de513edc0" + "sha256": "ec1fd40f0b50b4bdb2580a4580a9d8180ca8e9af94e2f33f248fad6587d057a6" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_50e_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "7cd0df2134cc90e3c640b899cdef80cfbe627a388bb253d17d91ff2a44dcb7ee" } }, { - "name": "m710ic_50e_benchmark.json", + "name": "fanuc_m710ic_50e_validation.json", "hash": { - "sha256": "fd45780d042b273ffeeb387439aeee8527ce779a5e8eeb555334b716ec746c2b" + "sha256": "d052ef28e63bd79bef7f3c972bbed06a8e6d10981d5db31dc2fce366d2f492a4" } }, { - "name": "m710ic_50e_validation.json", + "name": "license.txt", "hash": { - "sha256": "0bb3a19ae8328790b3ce2764ca0462973e63c1536b5f5797c11659852b30b6ae" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "68f5f7348c62b1f5241d829c5eb08f5c80d31fed7e135cad60707a6b6e823217" }, "package_hash": { - "sha256": "313ac8daec9c8bc44b3e7676b5fcfbde3782348d17c77752245ad913e1e8d952" + "sha256": "288bbd4f6c1bce41e6f1a36b499da06185ca5940cfda4f549aeb0065179e0524" } } diff --git a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 05af4dfd05ae0168577b88805678f6c4478acd1e..0d8c7ae2c70e1fcb69e5a5280c21897ebd960840 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:53", + "timestamp": "2026-11-03T23:33:32", "assets": [ { "asset": "m710ic_50s.usda", diff --git a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index f0010845951a2d46cf6847f84196fca0c6e62bd1..53bf92673938226f2119b1159d4823db93d1e028 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:55", + "timestamp": "2026-11-03T23:33:34", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json index 86f9731ad3e7e64729a5a7ef4139b90796e12780..e45606ce09dfefe570e202b15eb2479bdd8b2421 100644 --- a/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_50s/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_50s/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_50s/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_50s.usda.png", diff --git a/fanuc_m710ic_50s/.metadata/m710ic_50s_benchmark.json b/fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_benchmark.json similarity index 99% rename from fanuc_m710ic_50s/.metadata/m710ic_50s_benchmark.json rename to fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_benchmark.json index f1b09fe90b40801cbf84ce21a2a0c6cc645a3da5..4bcebc5314387ecbaa2803c206fab212f50f9b36 100644 --- a/fanuc_m710ic_50s/.metadata/m710ic_50s_benchmark.json +++ b/fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_50s", + "asset": "fanuc_m710ic_50s", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_50s/.metadata/m710ic_50s_validation.json b/fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_validation.json similarity index 97% rename from fanuc_m710ic_50s/.metadata/m710ic_50s_validation.json rename to fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_validation.json index dc49f24975cc0d5f267ad2231adfe5883ba0b300..6e5f1d4c2f0c3ef2e2a44b7766064eec1695ba4e 100644 --- a/fanuc_m710ic_50s/.metadata/m710ic_50s_validation.json +++ b/fanuc_m710ic_50s/.metadata/fanuc_m710ic_50s_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_50s/com.nvidia.simready.packaging.json b/fanuc_m710ic_50s/com.nvidia.simready.packaging.json index b4355a50ce59f3f2296ada0dac2db239d3003be0..6950a53aca1a095b8e9c9a083ca76f8c675779c8 100644 --- a/fanuc_m710ic_50s/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_50s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50s.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_50s.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "919f7d7b251f347b8f6cd244a88cb9fc24696a0b300e45e06ff24022e385dfa3" + "sha256": "ca18f3c92e2228256fb76337364683e6d4b749b13eb04707489790133c5b066e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2995635af958643cd3f5c1e2c82075c7b78449135a42ff136e07ed66b5f00364" + "sha256": "6a74749b725bb41e2735b96e85c36d6ab2b3eb462d7a758c5512be3b024ebb9e" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_50s_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "950d6035809bcc369510ec9ecdb55033300de62af68df4924bf350d2254aa19b" } }, { - "name": "m710ic_50s_benchmark.json", + "name": "fanuc_m710ic_50s_validation.json", "hash": { - "sha256": "5f815d9afd7afd2d2b4b772bda38733db8c502736f0471e71ecae34a93211067" + "sha256": "bf487de2d7b04d8775358384c8e883eb804ee1ac98d3db5d429f905b3a4a4fdb" } }, { - "name": "m710ic_50s_validation.json", + "name": "license.txt", "hash": { - "sha256": "db4648ada5ff8d98570dbfd56bfdfce68c10321f3ef3fc74884c8af71d3419a7" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "8807e58911e9dfb40a1c5b03f4450155d174032abff10b791f915432982ef4d2" }, "package_hash": { - "sha256": "9b6788ebb1f0da12e168de6c8c1bc8618a754d47c738dedbd8de673e10d1835b" + "sha256": "1214d4b1d065244291127ddc2b977e2b7ae337f56dc60b846437f4b4d5b0e576" } } diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d806615eb0884f6c14bdb13f1d30973b47410b1b..99d19618cd567ca349f992c08556fd64568b1414 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:22:57", + "timestamp": "2026-11-03T23:33:35", "assets": [ { "asset": "m710ic_70.usda", diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b0f1f8e79fd02be95f3daead1f55836274ed2cfc..24378fe16308b2bb09c507acf8738f174ef317c2 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:59", + "timestamp": "2026-11-03T23:33:37", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json index 93f2cfc9fad43d21711b485e6b93b474974683c0..32a3db2a54b2942c0e3b452897e8a3ad15f7d996 100644 --- a/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710ic_70/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710ic_70/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710ic_70/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710ic_70.usda.png", diff --git a/fanuc_m710ic_70/.metadata/m710ic_70_benchmark.json b/fanuc_m710ic_70/.metadata/fanuc_m710ic_70_benchmark.json similarity index 99% rename from fanuc_m710ic_70/.metadata/m710ic_70_benchmark.json rename to fanuc_m710ic_70/.metadata/fanuc_m710ic_70_benchmark.json index a5c9a8b41661a664a0813c6f5397c3800df26c8c..27e75ffb12cb41d3b9b2a74ab7747e543ee79eb9 100644 --- a/fanuc_m710ic_70/.metadata/m710ic_70_benchmark.json +++ b/fanuc_m710ic_70/.metadata/fanuc_m710ic_70_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710ic_70", + "asset": "fanuc_m710ic_70", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710ic_70/.metadata/m710ic_70_validation.json b/fanuc_m710ic_70/.metadata/fanuc_m710ic_70_validation.json similarity index 97% rename from fanuc_m710ic_70/.metadata/m710ic_70_validation.json rename to fanuc_m710ic_70/.metadata/fanuc_m710ic_70_validation.json index 9bead1916eb35915e1b163a30f72258366cca451..d8b0e7b178aae0c71729a029ed512d2c5ef9251b 100644 --- a/fanuc_m710ic_70/.metadata/m710ic_70_validation.json +++ b/fanuc_m710ic_70/.metadata/fanuc_m710ic_70_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710ic_70/com.nvidia.simready.packaging.json b/fanuc_m710ic_70/com.nvidia.simready.packaging.json index ed4b5ce872f0a09dd6cf345fa7a23937cc959006..be8a19363e70fc545ced1d51205445097758767b 100644 --- a/fanuc_m710ic_70/com.nvidia.simready.packaging.json +++ b/fanuc_m710ic_70/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710ic_70.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4dfbe50c0d79183cdf0da86bf6ace91e6c36fb9d073d91f82d46d79ab4a6350c" + "sha256": "efb42a005b32440bc2dc885dcaf13aa32c9af18b720f5e13cc1bcbf646f8bbb2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "75ecf687d8b2ba02c79e485987ac868f8bf11b7b8fb7062a67f001d43a7e10e1" + "sha256": "a4e19e9e0c9cf6105cd624928ac6111e21eed61e37b9b873d0ffd4258afe47d0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710ic_70_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "177eb6e6ec9c119a83fbd79dc1b985a7ab38e0c220c56f65591c5aab4e74e476" } }, { - "name": "m710ic_70_benchmark.json", + "name": "fanuc_m710ic_70_validation.json", "hash": { - "sha256": "b2dd454cb597f935b2a17bac3be62ceb0f14d9652185853405945d7e4ebc3cfd" + "sha256": "3d3fd0522cbc02bf85feb26706a29eaa37ec951bc968f95691006ee2e05e1ab6" } }, { - "name": "m710ic_70_validation.json", + "name": "license.txt", "hash": { - "sha256": "a637c4420df27310632b49e0ffd89137c62625350d768798157e1af353ee275e" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "eff650043d93f34894e40538c6ce33697420377738a4ea95d87a3102abe85a21" }, "package_hash": { - "sha256": "b222ce44730aacbd7bb6a5e65d1dbd4833d3f3b5a4ced8515af6e1fa90741ece" + "sha256": "2290224d2690c1f2640f82fba74b214c992d5b6c6a491909f305124a4867725d" } } diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index acbfb988e00663ba388f3176ac590fa9f9744722..85556dec8baa70a482dc090c71e95980aa473a6e 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:00", + "timestamp": "2026-11-03T23:33:38", "assets": [ { "asset": "m710id_50m.usda", diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 266d54141cdc2edfa912826075edb1cafa3d4be3..6fbdf4d92dde2d11d170fa3c4b2d440924ea7488 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:03", + "timestamp": "2026-11-03T23:33:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json index 3f1fba1cb0882d35c6b9e3793fb889f642259a55..8d710f3f6438e27fcba5702186de11fe9a7800c8 100644 --- a/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710id_50m/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710id_50m/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710id_50m/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710id_50m.usda.png", diff --git a/fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json b/fanuc_m710id_50m/.metadata/fanuc_m710id_50m_benchmark.json similarity index 99% rename from fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json rename to fanuc_m710id_50m/.metadata/fanuc_m710id_50m_benchmark.json index db6d68aeac17345c1c5dffaff888f0e141adc210..fdf4783077be6154031a6bc95a041b0995b1e11a 100644 --- a/fanuc_m710id_50m/.metadata/m710id_50m_benchmark.json +++ b/fanuc_m710id_50m/.metadata/fanuc_m710id_50m_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710id_50m", + "asset": "fanuc_m710id_50m", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710id_50m/.metadata/m710id_50m_validation.json b/fanuc_m710id_50m/.metadata/fanuc_m710id_50m_validation.json similarity index 97% rename from fanuc_m710id_50m/.metadata/m710id_50m_validation.json rename to fanuc_m710id_50m/.metadata/fanuc_m710id_50m_validation.json index 7be37926049a9e552828804cf696cce98260dca5..8fb78f6419db79964b57db27b233f2c976123211 100644 --- a/fanuc_m710id_50m/.metadata/m710id_50m_validation.json +++ b/fanuc_m710id_50m/.metadata/fanuc_m710id_50m_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710id_50m/com.nvidia.simready.packaging.json b/fanuc_m710id_50m/com.nvidia.simready.packaging.json index fe3f5b07e57a7374d0220e4c62a1879cd050a22e..f1ae387b25b89791c598324adae915ab55042f42 100644 --- a/fanuc_m710id_50m/com.nvidia.simready.packaging.json +++ b/fanuc_m710id_50m/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_50m.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_50m.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "da965f6d9146740c209173445bc829ad085703d55c31815bdb33aa53b0b4ef01" + "sha256": "0927bc8abd18d64c468cc3e9b41b4ab93c8133a604e90e884d3bd96bfccd0edb" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ec3d05801643ba97fe2f9b88760df97d56d17b893ea08b4c2a3e923a281e398c" + "sha256": "558afb2425923d822f2f878b1d96c30cac8f3761ed76c70ed56fd60b22971800" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710id_50m_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d943c5c515a0961918247629da3494d4ccba4ef99015a0089ec9ae1839451ed4" } }, { - "name": "m710id_50m_benchmark.json", + "name": "fanuc_m710id_50m_validation.json", "hash": { - "sha256": "1bb1e3dd409d2c730f649cb93b6435f668c601288bd55d539262fd488b1f45b1" + "sha256": "3e4f63b60470266102386d950fbae76d04de025e2e431c47e00cdfa4e7d23cc6" } }, { - "name": "m710id_50m_validation.json", + "name": "license.txt", "hash": { - "sha256": "c56dd014bd5c2a206f89e5e0b6407d04b7bf6141343199c9a719657eb8e30af4" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "bc4c1fdffbc99a69be96466d2c6439f79a82b6fcc604b28784b3424509aabd3e" }, "package_hash": { - "sha256": "3f1e9fbf20dca017b8223deedae09a61dd5c423484fa71d5e98d165121df60ac" + "sha256": "fff4799d943d793836949950b67659032282e33dae4ef2ef00aa175e2d3262fd" } } diff --git a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 36e91a2b4c50f14291489fa104633b24ce3d0d6f..c388c77e4ccf0a6340005fe6cfd743e3a676b988 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:04", + "timestamp": "2026-11-03T23:33:41", "assets": [ { "asset": "m710id_70.usda", diff --git a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index ff8b8de07bc5baef9d1426ff93867bc42b3fe0ce..257cd7521e7b44ec607c0210987019430b1ede31 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m710id_70/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:07", + "timestamp": "2026-11-03T23:33:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json index 1819f00ea9633ea3fd10528f90d4e9f98e88e73a..d8f79187d3908c6c35da70fb4757b0cf5d7f1390 100644 --- a/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m710id_70/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m710id_70/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m710id_70/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m710id_70.usda.png", diff --git a/fanuc_m710id_70/.metadata/m710id_70_benchmark.json b/fanuc_m710id_70/.metadata/fanuc_m710id_70_benchmark.json similarity index 99% rename from fanuc_m710id_70/.metadata/m710id_70_benchmark.json rename to fanuc_m710id_70/.metadata/fanuc_m710id_70_benchmark.json index 371f9bf7f3a33b0853edb43ab1ed6d6e6157842f..ac3979fe068e90d89265426773493d322f9a1511 100644 --- a/fanuc_m710id_70/.metadata/m710id_70_benchmark.json +++ b/fanuc_m710id_70/.metadata/fanuc_m710id_70_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m710id_70", + "asset": "fanuc_m710id_70", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m710id_70/.metadata/m710id_70_validation.json b/fanuc_m710id_70/.metadata/fanuc_m710id_70_validation.json similarity index 97% rename from fanuc_m710id_70/.metadata/m710id_70_validation.json rename to fanuc_m710id_70/.metadata/fanuc_m710id_70_validation.json index bfc4d23ff2cef258c7561f9140ecad934cf57a56..c38f66eff9f18966738839f3db1b307edb1e350e 100644 --- a/fanuc_m710id_70/.metadata/m710id_70_validation.json +++ b/fanuc_m710id_70/.metadata/fanuc_m710id_70_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m710id_70/com.nvidia.simready.packaging.json b/fanuc_m710id_70/com.nvidia.simready.packaging.json index f0acefd8b530582707ae13ec929973d9abf07d14..65fafd53164e3333d3f0c63007565f06f802073e 100644 --- a/fanuc_m710id_70/com.nvidia.simready.packaging.json +++ b/fanuc_m710id_70/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m710id_70.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6089a3b07dc50e555c5f0f311cfd3b2f0a051698bd501a4073d3a1b33a5e3d5a" + "sha256": "8c4c37abf1a7b9b04632c834db4bb7dc43a4835193ae26d695d2bc4d65b8a559" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e628fb43999bed2969d835f5aaf503d66833108eb6909787ea020c241d8eaafc" + "sha256": "3d9db93587ffefa9258ade34a99c31e46628ab97c3d3def3bb66489ff9898507" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m710id_70_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "be92408536bde711786f7cbc155cde75d3acab1c6597308a0451cd9700ffa448" } }, { - "name": "m710id_70_benchmark.json", + "name": "fanuc_m710id_70_validation.json", "hash": { - "sha256": "a8ead2f976f6f1a9113823c5f9bbf719d9c69503f4189de5e5df6d470803a3d9" + "sha256": "338251489671ef68bfa033ab09970e2bf178ea1557b2fa2528ed0be8f6073222" } }, { - "name": "m710id_70_validation.json", + "name": "license.txt", "hash": { - "sha256": "a5468fd866dff0a354cb1c5a8b2f75b0537ca49181827d9770b4498ce03a32f6" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "325a1bcb746ed7dce7a27712853938674c322558e95cb94e438324720cec009f" }, "package_hash": { - "sha256": "8bf5b4aba1cb9473f3e3ee51b3d48ea666926f88d0763317f62be6f20f17a1db" + "sha256": "79c4ef5a015b5378f9c6db6ca25d57057420bf64e12d17b1ec2ff18a7d137d6b" } } diff --git a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f7e680e0c67fa7087b2feaf3bb60dd633f4153fe..a845640122e027bd5818d9ed1fb9a682d4e9e393 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:08", + "timestamp": "2026-11-03T23:33:44", "assets": [ { "asset": "m800_60_20b.usda", diff --git a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 09f02bb834d485455e5be5cb1404710818d4a4e6..5b3907057d3c4cafda57189c57bd9ab9ff91c4c6 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:10", + "timestamp": "2026-11-03T23:33:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json index d986abcc6fc0cb275ce434dbcba2e79c161f862c..a28182df18f77f4e22eee3cb4b250464051e36a9 100644 --- a/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m800_60_20b/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m800_60_20b/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m800_60_20b/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m800_60_20b.usda.png", diff --git a/fanuc_m800_60_20b/.metadata/m800_60_20b_benchmark.json b/fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_benchmark.json similarity index 99% rename from fanuc_m800_60_20b/.metadata/m800_60_20b_benchmark.json rename to fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_benchmark.json index fe34051c7d4cb1b46bff3ef09c05eeadc653fc75..3fb8951c0d0eeeedc85578fcf8bbbeaa514c6227 100644 --- a/fanuc_m800_60_20b/.metadata/m800_60_20b_benchmark.json +++ b/fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m800_60_20b", + "asset": "fanuc_m800_60_20b", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json b/fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_validation.json similarity index 97% rename from fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json rename to fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_validation.json index 6ceb2d18cfd0725fa42fec15e32199c91f2e3917..659473bd54d1358366d4f90ceaf78deee24aa3a4 100644 --- a/fanuc_m800_60_20b/.metadata/m800_60_20b_validation.json +++ b/fanuc_m800_60_20b/.metadata/fanuc_m800_60_20b_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m800_60_20b/com.nvidia.simready.packaging.json b/fanuc_m800_60_20b/com.nvidia.simready.packaging.json index 9f37f525a8a33f6095c993a1d4d627c0447327c2..d7cbdcc253326f54ae1c3ac5711e28d4abf43b38 100644 --- a/fanuc_m800_60_20b/com.nvidia.simready.packaging.json +++ b/fanuc_m800_60_20b/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m800_60_20b.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m800_60_20b.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8c064f7e2b61876c01fb1d9aa1dd6d7d98e53fbaa017763efc81ba2b6cc7b41c" + "sha256": "d6994d1d71f6df0815f2fc07d60e8e62a655d63aa377c100047d68559b9205df" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "be6f634d10d8e6213c4071e17398d0c8c0f30cc6741ea764d2daaded8d3f8999" + "sha256": "3d3b6394953ec6ce22c5f355bb732ac11a9de068554b50af3707bbedc3df2dbc" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m800_60_20b_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "707d9fbe6ae055595b8b0e20f75de9987ad6046c9a188830f7c9d938740bc7f3" } }, { - "name": "m800_60_20b_benchmark.json", + "name": "fanuc_m800_60_20b_validation.json", "hash": { - "sha256": "2aab3a76444383c82bfca79a6ca443107239707555a4e537363e03822ee4a0c3" + "sha256": "3cb9e1cfe1ee4d8f31d4e2fba911506021a9959df96fec0f52c7b447eb9662d8" } }, { - "name": "m800_60_20b_validation.json", + "name": "license.txt", "hash": { - "sha256": "dd71df14f5f7db846b3fdc1864187bd45a97015c575cf1420b0cdf4cae8919e9" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a2a484871ca915319c2a1763920c417c642a24935e641198de97d4e89dfdd1b7" }, "package_hash": { - "sha256": "ec53c016387bf605d28a31fbe8b27e3660dded21cffe428defdf957b2747f075" + "sha256": "0c1be83e1bc2795e36a7b1e7239f23b845bb9cc0bda840d4a5972cd2f6e3709f" } } diff --git a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 86ce65450164001cbc0e4315bf1014985ef21455..685c6135ef6588f1bbd21ab20bfb650ad7ede5af 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:12", + "timestamp": "2026-11-03T23:33:47", "assets": [ { "asset": "m900ia150p.usda", diff --git a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 7316f67b24909c4ab8369b88c0e1a3d693ad9829..e3dd964ec57b132fb09149fc1f7961961318d6b2 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ia150p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:14", + "timestamp": "2026-11-03T23:33:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json index 1c0fa5afb0ef6833ec176785811a070eef70921a..285619c9b48cccaa363859995d2f08d76c6c3f1f 100644 --- a/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ia150p/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ia150p/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ia150p/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ia150p.usda.png", diff --git a/fanuc_m900ia150p/.metadata/m900ia150p_benchmark.json b/fanuc_m900ia150p/.metadata/fanuc_m900ia150p_benchmark.json similarity index 99% rename from fanuc_m900ia150p/.metadata/m900ia150p_benchmark.json rename to fanuc_m900ia150p/.metadata/fanuc_m900ia150p_benchmark.json index b8d0c66b8248c6be7f2098345aec16306ac6b357..39f8e7d7ab3aa3e91c35aaefb1b8c50fd694f01d 100644 --- a/fanuc_m900ia150p/.metadata/m900ia150p_benchmark.json +++ b/fanuc_m900ia150p/.metadata/fanuc_m900ia150p_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ia150p", + "asset": "fanuc_m900ia150p", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ia150p/.metadata/m900ia150p_validation.json b/fanuc_m900ia150p/.metadata/fanuc_m900ia150p_validation.json similarity index 97% rename from fanuc_m900ia150p/.metadata/m900ia150p_validation.json rename to fanuc_m900ia150p/.metadata/fanuc_m900ia150p_validation.json index 2a3b537d64d74f8fb4f739b7e91d166dba0f0a89..007fdd107c6fba7bc844f3d09b7f52719a4d4716 100644 --- a/fanuc_m900ia150p/.metadata/m900ia150p_validation.json +++ b/fanuc_m900ia150p/.metadata/fanuc_m900ia150p_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ia150p/com.nvidia.simready.packaging.json b/fanuc_m900ia150p/com.nvidia.simready.packaging.json index 4dedcc9222f9b418f10f741a6563fd1194f1abfe..b5971f4acf46089206c7f542610cd7d2cb24c416 100644 --- a/fanuc_m900ia150p/com.nvidia.simready.packaging.json +++ b/fanuc_m900ia150p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia150p.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia150p.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4126d7f2057e3d89cf9e7b453707cd19c2b8d58425a994c608417b78b7eed39f" + "sha256": "4e647155a5fde991720538adc3efeacb0d1612071ae4fabb579a16e50cac6d0a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2b6ecf45932c5b4ff5244513f882fd572d84ab196b4a744f81088fedbead21ba" + "sha256": "83f2b8ea97c4e49d02d4d7b2f4b6eb6c891610da28f0ba6b9a96eca50b8cd9a0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ia150p_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "de933a794311b36aafc689735dfdb679f364c68e1379b9e4b40ebb71c338de9f" } }, { - "name": "m900ia150p_benchmark.json", + "name": "fanuc_m900ia150p_validation.json", "hash": { - "sha256": "66b6b280ca9a0297c731732b97ceec453b902dbd29cc7f2dcd1be715fe80a046" + "sha256": "c947e1179110d36996aa955cc20abff9acfd1a7c257562b87631a21e6e71cc45" } }, { - "name": "m900ia150p_validation.json", + "name": "license.txt", "hash": { - "sha256": "bfbd9490605467ebbe370a01659a67b7c070e9bf74d428ab841553439b0fecde" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "b05bed7161e09e595a02a5475f2916ab8ff048a0511771b56f3452f5e9fa34a5" }, "package_hash": { - "sha256": "2774a564d5dac3ab89118608986ee6e3cbfc6bbea57cadc3a414bbd531cdc1a3" + "sha256": "9a87036cbae2ee24edcb91c58b2081078e0325cb5370a7be10e59bee811c04ce" } } diff --git a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4903303c2fa7be10d6d7accbf2494b37a4b05d65..b02feb82cb99dc8da6fc3c62d90e198da7a51454 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:15", + "timestamp": "2026-11-03T23:33:50", "assets": [ { "asset": "m900ia200p.usda", diff --git a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4f17c040bd5cbfa4ab4a914b43f4efafcd0e11d1..13ec6e5b2448d222043097205495bbbac976a5fb 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ia200p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:18", + "timestamp": "2026-11-03T23:33:52", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json index 026a2215999bdec9cf7698fab717b58a7861ff69..3b4674db2c992d5c69aa2a5959573308644d0078 100644 --- a/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ia200p/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ia200p/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ia200p/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ia200p.usda.png", diff --git a/fanuc_m900ia200p/.metadata/m900ia200p_benchmark.json b/fanuc_m900ia200p/.metadata/fanuc_m900ia200p_benchmark.json similarity index 99% rename from fanuc_m900ia200p/.metadata/m900ia200p_benchmark.json rename to fanuc_m900ia200p/.metadata/fanuc_m900ia200p_benchmark.json index 2d3fd7a60e62acff74ea57bc89e8e2d09d3b4f19..0b7260d9a429d3bec4e82781c7a7e143239c06a3 100644 --- a/fanuc_m900ia200p/.metadata/m900ia200p_benchmark.json +++ b/fanuc_m900ia200p/.metadata/fanuc_m900ia200p_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ia200p", + "asset": "fanuc_m900ia200p", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ia200p/.metadata/m900ia200p_validation.json b/fanuc_m900ia200p/.metadata/fanuc_m900ia200p_validation.json similarity index 97% rename from fanuc_m900ia200p/.metadata/m900ia200p_validation.json rename to fanuc_m900ia200p/.metadata/fanuc_m900ia200p_validation.json index e8e2f7f568abfa5318f3b7f94f615148c4d0294f..072ecd40983b610c2385e8ca8094c590de0a56c0 100644 --- a/fanuc_m900ia200p/.metadata/m900ia200p_validation.json +++ b/fanuc_m900ia200p/.metadata/fanuc_m900ia200p_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ia200p/com.nvidia.simready.packaging.json b/fanuc_m900ia200p/com.nvidia.simready.packaging.json index 3781b7e4b7852db42fc9c2aaeb344fe3a10ec3f5..adb60cf87a0b9911c91576160ab1c5a28f8c3731 100644 --- a/fanuc_m900ia200p/com.nvidia.simready.packaging.json +++ b/fanuc_m900ia200p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia200p.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ia200p.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a02beca386e567e07ead713be8658c037a0cf5a6b4b3b36d74864abbf04555cb" + "sha256": "53dc6fa68e17b592acf7ede2cd558ce3a042c9c0e2710e7977b76399ea8a1614" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "877a83d0199fa6eb7b5462d317959d236cdb6a565f88eab5169592bd4e16f614" + "sha256": "394421ca2cdcd3b60771f5d60cd2039abc46c5236fbe9be7bab473fecf29c4a0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ia200p_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "320dd85e16067e0bf2a7b5f7b918b053462059bdc5805a98bbd06a4587d2fdb3" } }, { - "name": "m900ia200p_benchmark.json", + "name": "fanuc_m900ia200p_validation.json", "hash": { - "sha256": "c97de1956cd8651675d36dc531d8555454d79f19d4b36fec7505ee9ac39b3336" + "sha256": "2d9aae183de15f18e1e49e2038db7a601652a474b922e2feb704fd010db60b1d" } }, { - "name": "m900ia200p_validation.json", + "name": "license.txt", "hash": { - "sha256": "5b2ae2eac96c776acad58d9ce3c3283462ba9e9116a8b8f311f6978bc8455424" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2b5228b477eb8dc42df4c3a96534b50c33126e124d9e36f7c147e5c08179492d" }, "package_hash": { - "sha256": "609e8c629b4e3a4e59d4e84eab901a104dc74fe16ae7afcf17ceaa6b5c3f0279" + "sha256": "b70286d82f9f0900c435fef8a16544b50eee399b0401860ab1247b85660f2b7f" } } diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f63ef99ee17db5adc476f9fd195635ba7bbce568..080ea13639eeeacfb5242a65d32ceb328386126d 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:19", + "timestamp": "2026-11-03T23:33:53", "assets": [ { "asset": "m900ib280.usda", diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index df9fd9c4942282a69655bc92678114c0416a2d73..e952233bc1a252183dcf34effe4fb85ff417b510 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:21", + "timestamp": "2026-11-03T23:33:55", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json index 8b657160d5d6d09127cf7bbd8fa5d1b1906ee5c8..2f067129051258ebb1b0082e2c4b98e6a857e9c6 100644 --- a/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib280/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib280/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib280/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib280.usda.png", diff --git a/fanuc_m900ib280/.metadata/m900ib280_benchmark.json b/fanuc_m900ib280/.metadata/fanuc_m900ib280_benchmark.json similarity index 99% rename from fanuc_m900ib280/.metadata/m900ib280_benchmark.json rename to fanuc_m900ib280/.metadata/fanuc_m900ib280_benchmark.json index 30d62f5d0d5ca95c045d873cd7f3c9316e89cc7d..43fd2e4c6c94a0f9690ae1e497773cf5e1c51410 100644 --- a/fanuc_m900ib280/.metadata/m900ib280_benchmark.json +++ b/fanuc_m900ib280/.metadata/fanuc_m900ib280_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib280", + "asset": "fanuc_m900ib280", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib280/.metadata/m900ib280_validation.json b/fanuc_m900ib280/.metadata/fanuc_m900ib280_validation.json similarity index 97% rename from fanuc_m900ib280/.metadata/m900ib280_validation.json rename to fanuc_m900ib280/.metadata/fanuc_m900ib280_validation.json index 03d5451a951361f8e6bc883e78e7a5d89c5ed43c..1396682a5666c097a907dddae69d1c0aa506ad3f 100644 --- a/fanuc_m900ib280/.metadata/m900ib280_validation.json +++ b/fanuc_m900ib280/.metadata/fanuc_m900ib280_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib280/com.nvidia.simready.packaging.json b/fanuc_m900ib280/com.nvidia.simready.packaging.json index 324cc18e7ab08a65340648ae9f9d3775d7c6a848..3236cb552330e864c82f8ae17ec5e681658ef89b 100644 --- a/fanuc_m900ib280/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib280/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4f56f77de53ba4b0322b055f6793d554f4cd7aa8ab01d1bcf02ec765b580c0e9" + "sha256": "6440057062a7ca942cd9f4adc3f79148f62c8b194b190c1a8c5ffcb1ffedc725" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6526110dbe8e6ce0c2f1e8911f8b0479947d07b9f63942c6cda169da7800cb04" + "sha256": "d014f0b1fb834b34228911bd801611a253741ca6146af44c4a670541cbdce008" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib280_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "1d45a001b13cbe378791420806b0c37118bcb1e34a24091e0b2da20a7f689455" } }, { - "name": "m900ib280_benchmark.json", + "name": "fanuc_m900ib280_validation.json", "hash": { - "sha256": "e245de72d7aa01cbd61a3d8f813875ff794d75312e0f037153a6fbce9f8451f6" + "sha256": "b0b97ce68740ac78f35f5dd1fca1371a7ff2c540ec38206176da102c91e7f495" } }, { - "name": "m900ib280_validation.json", + "name": "license.txt", "hash": { - "sha256": "12f479bee462db8be9cf5a3f1e50bb4d804944d327a36e6a0d8368bc762742da" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "0c04f7ad9bc00bc4ac4dcb3dfd0c80e8dafa238620963d29da8dc72a7534203d" }, "package_hash": { - "sha256": "2a551882515953dd6c93d6cbbae8caa2d0d758e8b3aa0e49fff88548685862b7" + "sha256": "6358094db46a06053190ea0c11b8721c144751b3efde49b9e0ea7f906efcf7a2" } } diff --git a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 81e1ff5e854cc9458d9002d462c6346984e8998f..88e1e0de688c1428a08caa3eb0ed63446746526e 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:23", + "timestamp": "2026-11-03T23:33:56", "assets": [ { "asset": "m900ib280l.usda", diff --git a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index bbe48a74e03bca0763e96480ceb431d0a1b26fd3..4a6d3a4cef59bbc1448b3a266135bed4f2207ae1 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib280l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:25", + "timestamp": "2026-11-03T23:33:58", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json index 1e38591b20a9bfdac829c014439f30528fc26eff..66794e6b35054895ba78592d892c468841cf2b75 100644 --- a/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib280l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib280l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib280l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib280l.usda.png", diff --git a/fanuc_m900ib280l/.metadata/m900ib280l_benchmark.json b/fanuc_m900ib280l/.metadata/fanuc_m900ib280l_benchmark.json similarity index 99% rename from fanuc_m900ib280l/.metadata/m900ib280l_benchmark.json rename to fanuc_m900ib280l/.metadata/fanuc_m900ib280l_benchmark.json index 468b5ca9ee637d153f350afb851ba51c70b2aa6c..63a42b3f78ab08c7a9ff5aaa13a119c484ec9689 100644 --- a/fanuc_m900ib280l/.metadata/m900ib280l_benchmark.json +++ b/fanuc_m900ib280l/.metadata/fanuc_m900ib280l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib280l", + "asset": "fanuc_m900ib280l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib280l/.metadata/m900ib280l_validation.json b/fanuc_m900ib280l/.metadata/fanuc_m900ib280l_validation.json similarity index 97% rename from fanuc_m900ib280l/.metadata/m900ib280l_validation.json rename to fanuc_m900ib280l/.metadata/fanuc_m900ib280l_validation.json index 0d142c772625cee26ae2161dbf7c19bca1b47b99..d76a1caea69e08dce1fac47b19f2967f414f1405 100644 --- a/fanuc_m900ib280l/.metadata/m900ib280l_validation.json +++ b/fanuc_m900ib280l/.metadata/fanuc_m900ib280l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib280l/com.nvidia.simready.packaging.json b/fanuc_m900ib280l/com.nvidia.simready.packaging.json index 0fde291efe6f1821ccfe689921c26a7b62bb6992..d6dda768d797c94df8fb964133dbceb203c9e254 100644 --- a/fanuc_m900ib280l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib280l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib280l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e569cb0964dcb5ab13622331f1dcfb90cf14bfe2699a9c9d284eca998a7e6242" + "sha256": "f40e8a5ae2316568c288dd836ef06f439df7d8bdcb852f9e2506889f97899c79" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "251a01503940c99966a010daee9d7f7457d6872b8546b5002545caa7e57d8a40" + "sha256": "db8e38bea88fbc41ab818ca8da6ca638ac6a260d890f33b54486edbb66ecadc0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib280l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "f9be2714789222babedc5cb3414afd268a86497f4b904087f905f59e2be8d9f1" } }, { - "name": "m900ib280l_benchmark.json", + "name": "fanuc_m900ib280l_validation.json", "hash": { - "sha256": "807729ac869caeaa211c09f0bc7f153e965f7b490debc6151470d396a847aa4f" + "sha256": "ecaae283dad5d019a9706d1e0b492e0c663e9df949d5515f8c9daab9c158a789" } }, { - "name": "m900ib280l_validation.json", + "name": "license.txt", "hash": { - "sha256": "57247369937f354b9592c6ee2993ddac84dedcb14114b35424cf8ea824a893bb" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "fc6623194d2f2e8de680864f2417e2949f49ed135674aa00b3ad8fdd1be4cc98" }, "package_hash": { - "sha256": "ccc015c3cc869b0ebb5c5394269e9d78e928501dc1c3cee2c3458762812f4ea7" + "sha256": "fcef7e3f142f75fbf9dea1b1950e5710567424eee0856bbfe38acc3746c49efa" } } diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e294987a9ccf5c9b1bc26d6e7e2ebfa0e975420c..dd2a6c4630e86e9d8b0e528fe2af0e6a4bbf7249 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:27", + "timestamp": "2026-11-03T23:33:59", "assets": [ { "asset": "m900ib330l.usda", diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3bdc24611b2a0af7083b7e37c00e0cf8f0658ff2..c3be4acebc1b775befed14b5c11c0c9b32f54d94 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib330l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:29", + "timestamp": "2026-11-03T23:34:01", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json index 25d1d87581ef275d3e993342c76b95170c58364f..b75bdcec16e733e079385db099aef9f21bfe9fe5 100644 --- a/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib330l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib330l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib330l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib330l.usda.png", diff --git a/fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json b/fanuc_m900ib330l/.metadata/fanuc_m900ib330l_benchmark.json similarity index 99% rename from fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json rename to fanuc_m900ib330l/.metadata/fanuc_m900ib330l_benchmark.json index 3c038bfce44040e304c07120929b7ff3db0e534c..ab254c93d5aea9d13c65dd1518721cc8a1bb9470 100644 --- a/fanuc_m900ib330l/.metadata/m900ib330l_benchmark.json +++ b/fanuc_m900ib330l/.metadata/fanuc_m900ib330l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib330l", + "asset": "fanuc_m900ib330l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib330l/.metadata/m900ib330l_validation.json b/fanuc_m900ib330l/.metadata/fanuc_m900ib330l_validation.json similarity index 97% rename from fanuc_m900ib330l/.metadata/m900ib330l_validation.json rename to fanuc_m900ib330l/.metadata/fanuc_m900ib330l_validation.json index a9f362cc402dda8aca8697e58149b37e84cf76f4..4269fe053dafed36d670321a4493979803823d19 100644 --- a/fanuc_m900ib330l/.metadata/m900ib330l_validation.json +++ b/fanuc_m900ib330l/.metadata/fanuc_m900ib330l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib330l/com.nvidia.simready.packaging.json b/fanuc_m900ib330l/com.nvidia.simready.packaging.json index 2b85d67d115b02b83cf6d08f26d162a8f3d23960..d6bf2e5839c9cc85815c9c6668475a5ae72afa4f 100644 --- a/fanuc_m900ib330l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib330l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib330l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib330l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4e412c9b0b729977cc1c8d0caf0731fbe2b3e9c87ce2e30531f879caa58f82de" + "sha256": "61ec1599bcdb954732ed5c1df5a43d11e3d19c5991f1f3ce8a281b68f7b859e1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f41994d6d914b694cd158e2492f591d83dfda01b9b20a6b5e66eb92f8b119644" + "sha256": "4b9922844be1d50fc9a46986fdf9ab088c450a5fdf86cd6b1b930ae63640eed7" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib330l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "e966aabddcfb7ee4443c1bda077d09bac77aedc1e683c9422af5471335dd130e" } }, { - "name": "m900ib330l_benchmark.json", + "name": "fanuc_m900ib330l_validation.json", "hash": { - "sha256": "dbe87d57adc88bc25c028b53c494551a8bd07eadb43ff3dcde07d45dbe302af6" + "sha256": "21133794046c5de38a3740a615057f640ce9de6e8994e25e48a733900e5089ec" } }, { - "name": "m900ib330l_validation.json", + "name": "license.txt", "hash": { - "sha256": "e1d09b64946b6c0426e2800bc0d0ffd7c8066edb1c8577f2aba83b3a397e3391" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2df1c2a19b15647b0b358f6c15e1d69f03be85b2ee59cb5ccf3cd2eb32e70af8" }, "package_hash": { - "sha256": "e1e02948465bf97f62a8d5393bdf9917ae9ad68436782d312085a944bbac7ca0" + "sha256": "0da54b2ff08fc718b0fb2a105e645abb3b0a768ccb1b2a479c4987c5f5059a3a" } } diff --git a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d1db554ff0220d54ec2d7519823ec856e94a3f00..51823895d06119cb365edfa6b49a49c19f1382d9 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:30", + "timestamp": "2026-11-03T23:34:02", "assets": [ { "asset": "m900ib360e.usda", diff --git a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 52fcaa2f940dc41b1bb211c0c23e715e5f5dbf97..0a3d7dd31053d5fc54580c02a88a6a29b860b01e 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib360e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:33", + "timestamp": "2026-11-03T23:34:04", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json index 312aa3496646137aa39abdbfabc932f88f057d36..cb05a72b274f221bd94a670004b265384deb633c 100644 --- a/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib360e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib360e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib360e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib360e.usda.png", diff --git a/fanuc_m900ib360e/.metadata/m900ib360e_benchmark.json b/fanuc_m900ib360e/.metadata/fanuc_m900ib360e_benchmark.json similarity index 99% rename from fanuc_m900ib360e/.metadata/m900ib360e_benchmark.json rename to fanuc_m900ib360e/.metadata/fanuc_m900ib360e_benchmark.json index fd305729dd6095824b21f271a09fac6fc75cf1ec..cb18a4225acda93f582c4d7a54851617883f3750 100644 --- a/fanuc_m900ib360e/.metadata/m900ib360e_benchmark.json +++ b/fanuc_m900ib360e/.metadata/fanuc_m900ib360e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib360e", + "asset": "fanuc_m900ib360e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib360e/.metadata/m900ib360e_validation.json b/fanuc_m900ib360e/.metadata/fanuc_m900ib360e_validation.json similarity index 97% rename from fanuc_m900ib360e/.metadata/m900ib360e_validation.json rename to fanuc_m900ib360e/.metadata/fanuc_m900ib360e_validation.json index 7aac4435806b08a4fd86ef37939d602ab49c2590..6d887b916ea7bd700ebfdcb780b56c68fce74909 100644 --- a/fanuc_m900ib360e/.metadata/m900ib360e_validation.json +++ b/fanuc_m900ib360e/.metadata/fanuc_m900ib360e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib360e/com.nvidia.simready.packaging.json b/fanuc_m900ib360e/com.nvidia.simready.packaging.json index cae486c183e71a04bd1862a0b303d80e071e507b..f4e5dc081c34218306df01fa4f7014ca0fdf674c 100644 --- a/fanuc_m900ib360e/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib360e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib360e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib360e.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "f29f5cee93aa6b7ba459133933126a858679eff19770b40d6c4e22f04582e398" + "sha256": "b2571e831a16ad71695e5539b95b595a61423b9153644eeae832c77da8622d10" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e071ce320622c8ee3175a4eedce8a813db45ce786eb77b171f7042f755b10878" + "sha256": "d3b70086a80dc494d535d16687d0ef489faf323067dffa79e00d9f10b8ad5868" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib360e_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "b0df11ce353a4555ba8c555df73c893c1d927a810526d51f81957ca6e03e6df3" } }, { - "name": "m900ib360e_benchmark.json", + "name": "fanuc_m900ib360e_validation.json", "hash": { - "sha256": "489f3da6c6a1a2d976c54111a69db5e1fd54c3c645e4b7f0106918d7073366d6" + "sha256": "f3b3393c4f3c3a65da41293af206a764d4edf65cfaa2a9a223ec3b5800e8a297" } }, { - "name": "m900ib360e_validation.json", + "name": "license.txt", "hash": { - "sha256": "9c551ca1149497a2a3fb0143da9c32bf480c74dd5b26ad459eff8a3afbe6b5df" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "8f9d7d363b0e6820a3aef79c4cb750a77c9ea7d90a5f59c0e7fff28454d8b050" }, "package_hash": { - "sha256": "17c8eb0e6a6df1755716ab34f670a8812596f3fc3fa577130e0ef3f6ff3c3079" + "sha256": "c9635904157b7a523287afd458fd78616ab646495333a28e4b81ba66891bae87" } } diff --git a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a4c4bda08ace0c66d49fc7e5053a1454bce8b192..91d6dd01b6bb70c4a3da934cb40d17d0ccecbd56 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:34", + "timestamp": "2026-11-03T23:34:05", "assets": [ { "asset": "m900ib400l.usda", diff --git a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index c876ec90fb11dd4921893859d8166b725ae478aa..c5c1a2a25d773b8ab82528a14c0233ff27f0bf97 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib400l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:36", + "timestamp": "2026-11-03T23:34:07", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json index e5f364f105709a55698a2c83a98c51a31f1ff7d7..840c64331bcfc5af8f80dcf55708ff69c3b0df18 100644 --- a/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib400l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib400l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib400l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib400l.usda.png", diff --git a/fanuc_m900ib400l/.metadata/m900ib400l_benchmark.json b/fanuc_m900ib400l/.metadata/fanuc_m900ib400l_benchmark.json similarity index 99% rename from fanuc_m900ib400l/.metadata/m900ib400l_benchmark.json rename to fanuc_m900ib400l/.metadata/fanuc_m900ib400l_benchmark.json index e937f8fe161342553373ddac2df66f0158af7890..5e1db3128aa707b5ae6061bec558348c4507ab73 100644 --- a/fanuc_m900ib400l/.metadata/m900ib400l_benchmark.json +++ b/fanuc_m900ib400l/.metadata/fanuc_m900ib400l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib400l", + "asset": "fanuc_m900ib400l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib400l/.metadata/m900ib400l_validation.json b/fanuc_m900ib400l/.metadata/fanuc_m900ib400l_validation.json similarity index 97% rename from fanuc_m900ib400l/.metadata/m900ib400l_validation.json rename to fanuc_m900ib400l/.metadata/fanuc_m900ib400l_validation.json index 6dcb03ccd53a6973ae296d3aeef2aebefcdcd051..3595b708ac693748aeea1f9510072e93a77ebc35 100644 --- a/fanuc_m900ib400l/.metadata/m900ib400l_validation.json +++ b/fanuc_m900ib400l/.metadata/fanuc_m900ib400l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib400l/com.nvidia.simready.packaging.json b/fanuc_m900ib400l/com.nvidia.simready.packaging.json index 72effd9661b8c0a7f9e12cc091ca6baa4bb19e53..913b933f78434fe76d7be483bf305bf9c226bc9c 100644 --- a/fanuc_m900ib400l/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib400l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib400l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "feea058f7a1c939593e878714e0c4e3b7a82c574a55d2fa15f76a2e6205d8b08" + "sha256": "a0e245c34bf08fe8009a34adf748300f8ecb957a3d1186e69c0a186f374761fd" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fc0de5eb277e249f929bf668ec92dc69a02a71a3abc009bf787c11e922313e25" + "sha256": "598982194decb67bf87e8219976be7a05b7b8215f698fb30a581df2c5cfa54c4" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib400l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "7cabb409711d42fe128d7fd412727fae252e307eacdf1bb32675c3a9ad514705" } }, { - "name": "m900ib400l_benchmark.json", + "name": "fanuc_m900ib400l_validation.json", "hash": { - "sha256": "c2abbd8f64e299bd4307bf971e69dbef3815b9b6b31e656f1fed2f7697a4beef" + "sha256": "be008fe7e94186966be4a754096fee098ab2d1af38e03556415eceba7ea94bb6" } }, { - "name": "m900ib400l_validation.json", + "name": "license.txt", "hash": { - "sha256": "ad0f319d2d2559ce4e10f7905629db5cc6343df0d3c0d72949b1383817fc50f9" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "ca9023e7c1b6022aa54218e0c6ad4095804b2778f133001a461a7742f0250802" }, "package_hash": { - "sha256": "411a5b4307e6d015710fa8d738d8349397ff659d00d5f0b8a0db828fb945f9ea" + "sha256": "65d4e409bd878dbe5d8fdd4b1738e2ea44782f758c3700bb488a03b3fa3a55aa" } } diff --git a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c0c7b8a4975aea98327efaf369682c935214e38b..89925239223dac74dfa0b95fc6d5f10ddc16e4d2 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:38", + "timestamp": "2026-11-03T23:34:08", "assets": [ { "asset": "m900ib700.usda", diff --git a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b65ab4fac46f5b39af924f5cc1c8cd03dd7df959..42133c77aa40c05ef2b4b9ffbe1d9247341a85fc 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib700/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:40", + "timestamp": "2026-11-03T23:34:10", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json index 90176886554f9e26ad0c0ea3f56a016ac0b6124f..8939b017788adc81f276bff8b4e170078b1b0448 100644 --- a/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib700/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib700/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib700/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib700.usda.png", diff --git a/fanuc_m900ib700/.metadata/m900ib700_benchmark.json b/fanuc_m900ib700/.metadata/fanuc_m900ib700_benchmark.json similarity index 99% rename from fanuc_m900ib700/.metadata/m900ib700_benchmark.json rename to fanuc_m900ib700/.metadata/fanuc_m900ib700_benchmark.json index a00e16760d8a2fd0807b70ed978215cafb7e200e..d392136a5f91b77f68827fc3903e79f11782f500 100644 --- a/fanuc_m900ib700/.metadata/m900ib700_benchmark.json +++ b/fanuc_m900ib700/.metadata/fanuc_m900ib700_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib700", + "asset": "fanuc_m900ib700", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib700/.metadata/m900ib700_validation.json b/fanuc_m900ib700/.metadata/fanuc_m900ib700_validation.json similarity index 97% rename from fanuc_m900ib700/.metadata/m900ib700_validation.json rename to fanuc_m900ib700/.metadata/fanuc_m900ib700_validation.json index a71cbaba089ff68c527ce21ff9030d68111d5fd7..12fc1bade666b29a499dcf55e6ffe762a32c2b69 100644 --- a/fanuc_m900ib700/.metadata/m900ib700_validation.json +++ b/fanuc_m900ib700/.metadata/fanuc_m900ib700_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib700/com.nvidia.simready.packaging.json b/fanuc_m900ib700/com.nvidia.simready.packaging.json index 8890db67c4c708a3e40b89e46f295a8c44b82f8e..3e4b2ccc24145b03c527b71ba7484c01a4cdf223 100644 --- a/fanuc_m900ib700/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib700/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7bff2bcdffa5d58e07f9c23bdaf46890fddfed151100137fe78a74a2cc98375e" + "sha256": "3ebd0faaa8f7b0e4696d4e827a7c58f8a5bfdea7ab245e8012f433042d31c417" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b184a17a7677355db1ad3a84fef9cb14d4e0f131bbdd4246fa9287ef8e244417" + "sha256": "f3a5eba34128c85e2a26f330c51d0ff0b440006a396b45c2500e167db342799b" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib700_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4bb9192ccea8c31ca97de53635a47a6d4327a6a8d392a3846b1231801c57c92b" } }, { - "name": "m900ib700_benchmark.json", + "name": "fanuc_m900ib700_validation.json", "hash": { - "sha256": "83f50f6ecc00327c6258cdaa37475b72c84d1e1afe0640230b3ca16bdfc5aa91" + "sha256": "f47c29e7b451264581a9e45e8ff71484c21bedc4539acee80228ba5a141430fe" } }, { - "name": "m900ib700_validation.json", + "name": "license.txt", "hash": { - "sha256": "1e948fb4ce691c72e4246b14ba7359e17c19b15198cdb21420db921033d99c9c" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "4852ca704da9b03df1a40bffe1328fe0bb8d8b6ecdf5c91f1e7a448b69d7279f" }, "package_hash": { - "sha256": "c3db251fc82d9d58463e4f039b7846a5cb14fde8fbeef6c318e08388ae7e480c" + "sha256": "8e0da1fb40563039668c536cfd55595e4e2a57fd9d4a36c59685c823cc6a8b30" } } diff --git a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 174dad752231c21de8a55d3340b7a7dd30707ad0..91cd050b6ed739f875af87a755d16b87fd3087b1 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:41", + "timestamp": "2026-11-03T23:34:11", "assets": [ { "asset": "m900ib700e.usda", diff --git a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 2315ef529bc0a245cf299b23480525b488f22e1d..2b5c23a60fa52343c12f366ab206497af8383209 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m900ib700e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:44", + "timestamp": "2026-11-03T23:34:13", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json index bbe8618679add277a2bcf7c87f6eb6d0c13314b6..059b35274bc87ca7069a1e7437959d2fe7bf765f 100644 --- a/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m900ib700e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m900ib700e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m900ib700e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m900ib700e.usda.png", diff --git a/fanuc_m900ib700e/.metadata/m900ib700e_benchmark.json b/fanuc_m900ib700e/.metadata/fanuc_m900ib700e_benchmark.json similarity index 99% rename from fanuc_m900ib700e/.metadata/m900ib700e_benchmark.json rename to fanuc_m900ib700e/.metadata/fanuc_m900ib700e_benchmark.json index b32131d8bc58944466e21b442d80d43cfa5eea8d..ae2607ae132f5f385c6bfae87b6712c77afeeedb 100644 --- a/fanuc_m900ib700e/.metadata/m900ib700e_benchmark.json +++ b/fanuc_m900ib700e/.metadata/fanuc_m900ib700e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m900ib700e", + "asset": "fanuc_m900ib700e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m900ib700e/.metadata/m900ib700e_validation.json b/fanuc_m900ib700e/.metadata/fanuc_m900ib700e_validation.json similarity index 97% rename from fanuc_m900ib700e/.metadata/m900ib700e_validation.json rename to fanuc_m900ib700e/.metadata/fanuc_m900ib700e_validation.json index baa7af198e1d4b4d3f9a38c7ec8462e34c60fd18..1cb7b23e1aff53a3b559b151a0319207d983401f 100644 --- a/fanuc_m900ib700e/.metadata/m900ib700e_validation.json +++ b/fanuc_m900ib700e/.metadata/fanuc_m900ib700e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m900ib700e/com.nvidia.simready.packaging.json b/fanuc_m900ib700e/com.nvidia.simready.packaging.json index 867776d4a075eb6e52e948e1d30408ea5b0eec9c..8efb68a0b6bb05b207c544dfea72693fd79ab7a6 100644 --- a/fanuc_m900ib700e/com.nvidia.simready.packaging.json +++ b/fanuc_m900ib700e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m900ib700e.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0d524a02597131c75bcf8299d15873ad64c6535d557ec30c9d8b948b4e286991" + "sha256": "793685c317861039cb7bf65b2d1352923f0e62f23b6b84ce6894d804bc7f78ce" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0c6d1533a0317edd790613454485630e45542929d0a14291b1b0e18a3708492d" + "sha256": "fc5a51ab74f6b4aaba116fc56720d574b0a540d8eb3508a0de01705f36c07324" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m900ib700e_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "61b1dcf8e334aedb836283af2c79a42750a459b92386463250010a09e5ee1e89" } }, { - "name": "m900ib700e_benchmark.json", + "name": "fanuc_m900ib700e_validation.json", "hash": { - "sha256": "f7be5e938e1c97d5bd6b753a0997e4fe962343068c18632062b387f4016cac9f" + "sha256": "9e4e8e78c5c5b098b0d9bf08fde1d33d3cdd199d0e134f2653b24b608f6d4f3d" } }, { - "name": "m900ib700e_validation.json", + "name": "license.txt", "hash": { - "sha256": "3ec641558c9a563cb7c6e77ede975dee8cd1184856b4c2935b13bc121d9c96dd" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "7269f50d40b8fe35741ca7babc947757b85c28ad70d725cbfff1c3d6992efa50" }, "package_hash": { - "sha256": "bfb2a001e24b4200e1ec5db68414e2175f3a217a633a0f05f6fb39dead0f4216" + "sha256": "f8059cbf78be2f8bc8acfdd093382250ecf50d6ee6d398ccc2a4a98a7fab2f0e" } } diff --git a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b577106b5fd28a5f28538e7eb031535560adec14..1a95b9f70e350f41d2bd78fcb4d2b475acda01a8 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:45", + "timestamp": "2026-11-03T23:34:14", "assets": [ { "asset": "m950_500f28a.usda", diff --git a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 57219f930cf74cb16bd0d8e5df12801f6466b446..393c24f7e6640a262c7612fe79ea48cf1f8b384b 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:47", + "timestamp": "2026-11-03T23:34:16", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json index fed9d3540bb767c568432245d93641bda2598871..955ff9c85e43096e85673076f9b5415c3fa9abe1 100644 --- a/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m950_500f28a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m950_500f28a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m950_500f28a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m950_500f28a.usda.png", diff --git a/fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json similarity index 99% rename from fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json rename to fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json index fa41bd00c639f08163f122d4b9be7410c0b431ce..efdef99f3a5a879a870e90bae236cf3024a3c7c6 100644 --- a/fanuc_m950_500f28a/.metadata/m950_500f28a_benchmark.json +++ b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m950_500f28a", + "asset": "fanuc_m950_500f28a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json similarity index 97% rename from fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json rename to fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json index 4820a224ad2ca23caae5812c82e7542e2a2e8c4a..e8b6320c12823cea574171b0924ea863af7de8f3 100644 --- a/fanuc_m950_500f28a/.metadata/m950_500f28a_validation.json +++ b/fanuc_m950_500f28a/.metadata/fanuc_m950_500f28a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json index e763164770013940e4e2f503c508060974f24e6f..5e1117cb885bd9224abea15cbf029bf0493cf377 100644 --- a/fanuc_m950_500f28a/com.nvidia.simready.packaging.json +++ b/fanuc_m950_500f28a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m950_500f28a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c19e988f4a7a208a3dddb5b0b94833b3988722d72f23e27c4a76ed7696bc4e1c" + "sha256": "e6f85060ffce5f3336b6cea1e610bf265da140f125d2d5bf504ef011efd27c53" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6803ae16c87227948ea72830fe1db588bfe6efa64f1a2087fdb953a90a8f722f" + "sha256": "e1d54fcf39608b21788c78db6706bc16c0a654e691a190bbfd9af850e39195de" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m950_500f28a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "5f4009d97f2c809feeafd7c65940337a951974ef9903e5e8680bdb1bc10aa0b8" } }, { - "name": "m950_500f28a_benchmark.json", + "name": "fanuc_m950_500f28a_validation.json", "hash": { - "sha256": "669a60de43f67547689dd7a9a11cdae8d6d8e9adaea38683c94e9ca48a22bb0f" + "sha256": "6e96ece1cf3f33976aac48a2456166447b4998cbc2efd5f3509439fb3583e879" } }, { - "name": "m950_500f28a_validation.json", + "name": "license.txt", "hash": { - "sha256": "e365fd7630621d094c0aeb9804ce389d610a85716e6d5596fa6ac7d6ea161152" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1be3aa1a5e81c2a74df9a39883b4ce5dc45999a697f7eaf2fc77f3b0f7669a97" }, "package_hash": { - "sha256": "7f91b79484d4a0649f6a4f530131665501539b214c7a2941f987accc1d2ca3ad" + "sha256": "833741dbdf6bf7f949d53695eda4c465052caa190266609dae1460df8acc29b8" } } diff --git a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 22f87bdc0c35706da0032899b9aba9281dea4a88..b457bac6e4c4a0e50e3b97db83237116ba901804 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:41", + "timestamp": "2026-11-03T23:32:35", "assets": [ { "asset": "m-1000_1000f-33a.usda", diff --git a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 96a56819b54bd0d64e819770be005e27a5c1785e..e5ced8e7f6e872d7404cbfecfc78994cad093a59 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:44", + "timestamp": "2026-11-03T23:32:37", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json index 01ece28bbf2d28b9dceb3f5efece0c481ddd2ae6..848ee938c2e719811da6ec6b33e56791f40c7f1c 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_1000_1000f_33a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_1000_1000f_33a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_1000_1000f_33a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-1000_1000f-33a.usda.png", diff --git a/fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_benchmark.json b/fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_benchmark.json similarity index 99% rename from fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_benchmark.json rename to fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_benchmark.json index bc984c615096c77469e256a11979b3acdc1672a5..d2c6b479ebef125cc382d7cb18109b8ad47be5cb 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_benchmark.json +++ b/fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-1000_1000f-33a", + "asset": "fanuc_m_1000_1000f_33a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_validation.json b/fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_validation.json similarity index 97% rename from fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_validation.json rename to fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_validation.json index 0b24162b143b21e4a6ad6969bf34a8c8cfc67b79..f49944d113372788af999739fa23308312ce2960 100644 --- a/fanuc_m_1000_1000f_33a/.metadata/m-1000_1000f-33a_validation.json +++ b/fanuc_m_1000_1000f_33a/.metadata/fanuc_m_1000_1000f_33a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json b/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json index 03c6fc8dcfc29f607d89ca42e372f4d27ffb778a..0e397dc69d5db8b43993e20bb480c34c7a7feba7 100644 --- a/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json +++ b/fanuc_m_1000_1000f_33a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_1000f_33a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_1000f_33a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8607cf12a4df20218b4d37a20a10fdc0558cb3b14676f29767f3f30ee37e942f" + "sha256": "b67c971b5ba414ebdfe356015d4c7b20b5d7a928fa48ebbdae031792148a7c9f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e2728dc421d425aa7658dcc93f896e702275fb77a08fa568738cd2ccd5e39862" + "sha256": "dd9130d5549ab08f66164b9b7ad3eaaa6c2abb62b6896335f231fd1a944e84b7" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_1000_1000f_33a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "e26ee2725d9bcc4b86b5afe1fee6619e293aed69753805a8bbc9aeaf1ff7bc9c" } }, { - "name": "m-1000_1000f-33a_benchmark.json", + "name": "fanuc_m_1000_1000f_33a_validation.json", "hash": { - "sha256": "881815271687448fc39ca0718d6b71a672ece971022a72c13eee12ac8b565b94" + "sha256": "504a8a1450d1c87692d70eff22dea69c3aa95f97493f63c28bb21dbd78a964f0" } }, { - "name": "m-1000_1000f-33a_validation.json", + "name": "license.txt", "hash": { - "sha256": "9baacaeccfb1ea4aa3ffba3fa4eed5a19db0b7fbf2900ae8d31a7a9fe7ff8bb5" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "6a08bec7956ef9e25b0d9cc494894c2221a1f9bb7f0f0a17299552c05c10262f" }, "package_hash": { - "sha256": "6bcc456b6eb589a236817ffb5c15075a7cf754b296590a74d2be39ef43eff5ea" + "sha256": "515521dfa0478967c9c24d9a58862bbe16ea21278a6aa3e98086a34e3468f8b6" } } diff --git a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 55c86f420f538cbd2be13a4223159ceb60f6113f..b6f25e6c385078c0b07bcefc457d7c170db06fbb 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:45", + "timestamp": "2026-11-03T23:32:38", "assets": [ { "asset": "m-1000_550f-46a.usda", diff --git a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 00051e487d6bd66676db8ded3b1f000854465e30..7079d7f4d1f8bbaf5f0d9909262b17e1b2f7a5bd 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:48", + "timestamp": "2026-11-03T23:32:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json index eb65491ecccbea9e55a46fa5271fb1858d1641fb..ac53c246e582de0a93fa86acdac7f2157bcacf37 100644 --- a/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_1000_550f_46a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_1000_550f_46a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_1000_550f_46a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-1000_550f-46a.usda.png", diff --git a/fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_benchmark.json b/fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_benchmark.json similarity index 99% rename from fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_benchmark.json rename to fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_benchmark.json index fc578f84e19c6b3e23d3784b5345036a472b3247..56a0a088332368a5de2d59da118b72416a89505a 100644 --- a/fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_benchmark.json +++ b/fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-1000_550f-46a", + "asset": "fanuc_m_1000_550f_46a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_validation.json b/fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_validation.json similarity index 97% rename from fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_validation.json rename to fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_validation.json index 3e8b4a6e46d04b6ab877222f876bc933ae48858d..84fbf73dc1baa7d146f420b1922ecbc8a99f5a84 100644 --- a/fanuc_m_1000_550f_46a/.metadata/m-1000_550f-46a_validation.json +++ b/fanuc_m_1000_550f_46a/.metadata/fanuc_m_1000_550f_46a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json b/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json index 49a1defff21234190add8ca5217a40de050afa9a..c30b7666b7d18e322eb991439ab1c37423594144 100644 --- a/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json +++ b/fanuc_m_1000_550f_46a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_550f_46a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_1000_550f_46a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c2152b5be64096fb7f0a9313a0edae14b08090eda00fa23285a6504f673f92c3" + "sha256": "55b04215ae7e0a824b3fd916411b011c1b0924ea0e7c838ea29eaacbb66b6fb8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "918962ce643c7cbac8ed3a41558da5572bf00071dfd99dfd4e8cb33c8a7994ba" + "sha256": "f1d08681d8e2818cc524aec2b30981b008592847ec8fa8915d1bc495455bf0fd" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_1000_550f_46a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "8545c7101f5221b97872863e9e0017f826c8a469661e3277d9e6e3318107f47a" } }, { - "name": "m-1000_550f-46a_benchmark.json", + "name": "fanuc_m_1000_550f_46a_validation.json", "hash": { - "sha256": "1b900844872bec96298d8c124a6cad6e16915f583809a26cfee94f503e957c85" + "sha256": "da9f6973233bf88ac247dab717bbca0136919cfe0680653c0383eb1226ca1a28" } }, { - "name": "m-1000_550f-46a_validation.json", + "name": "license.txt", "hash": { - "sha256": "8fd142a2afc5ffbe0268dc0628e1b69def4fdd13878247e05704411095f43c4e" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "859f8d175f8f1a9cde7c8dd15f1e436ddc0cb6d8eccd9546918df36d434a805d" }, "package_hash": { - "sha256": "5075e34f46ca78fccf47c97aa0712f98828a860417cc5700971307b162deeb9c" + "sha256": "e74030d6aa4fb369d0bba67fa68e2cbf8a6994b13e01a4ab271054f3ee1c50f2" } } diff --git a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5a20cd173d72a0adc7ee54866fd81066053d345f..34e4331334a24ba6d0d6eb173ddffa5f7a4c59f5 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:49", + "timestamp": "2026-11-03T23:32:41", "assets": [ { "asset": "m-2000_1200f-37a.usda", diff --git a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index faa87e16d783529ba14bf32583191343d122255c..223ad8e9dabe7a0ff436112acb54acb962e655e5 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:51", + "timestamp": "2026-11-03T23:32:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json index 7caebd55a15cc531378ae90d727fdf9ce3dd5fa8..df69cd65642433f38418e87505f5a3972accf944 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_1200f_37a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_2000_1200f_37a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_2000_1200f_37a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-2000_1200f-37a.usda.png", diff --git a/fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_benchmark.json b/fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_benchmark.json similarity index 99% rename from fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_benchmark.json rename to fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_benchmark.json index e44b2d423f2c7119c7cbb258289b4c79ef8d4ca8..151f1f41a3cb2647b6226cb9d3cb4c657e289e97 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_benchmark.json +++ b/fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-2000_1200f-37a", + "asset": "fanuc_m_2000_1200f_37a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_validation.json b/fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_validation.json similarity index 97% rename from fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_validation.json rename to fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_validation.json index 4c1ce474412ecd9bc20fd8c628e668bae38ff87c..4064b4ca000780a33076ec643c69d6d03db38f02 100644 --- a/fanuc_m_2000_1200f_37a/.metadata/m-2000_1200f-37a_validation.json +++ b/fanuc_m_2000_1200f_37a/.metadata/fanuc_m_2000_1200f_37a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json b/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json index 5c50da7b59e090319ca63a44836002d3d17591e1..bcb35f6789eccdfa804f437b4ab729f4397bd52a 100644 --- a/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_1200f_37a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1200f_37a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1200f_37a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "74f922d1ec1a36445b8636350503fc513d5f278e76bbd0f58b488505da193efd" + "sha256": "1d222e1bd1ea639f23ff45a5422899d93d16a7fbfd8a75aadaa31a6a07649c27" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3f1ca622de50f1f19c0b9573594e34fc1f4f030eb457fe716615862e86c1427b" + "sha256": "77aa11964ebe39e9d4788bb81d3cb77e055eb08eefef3a3a369f7fb3aa92cb10" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_2000_1200f_37a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d29fbbae2fbb84417d10ee47a1e6d2663859cbccdc485b0002bb8d7d0f8612b6" } }, { - "name": "m-2000_1200f-37a_benchmark.json", + "name": "fanuc_m_2000_1200f_37a_validation.json", "hash": { - "sha256": "8cf9f1e7f25311a9c92633dd4ccb2e2aa501b93cd86741b508c687f6a008ae0e" + "sha256": "a6ac352a11e4f040cf3772526240a15200cc7989b9cfb895ff165cc547c5fc09" } }, { - "name": "m-2000_1200f-37a_validation.json", + "name": "license.txt", "hash": { - "sha256": "e1bd1369443234a2fb48801e998d1dc3796abfd174fa348d34c7fbf7e80bb005" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "dc7014486c3df23b3f7901a0893756c17bd7a71ff286912b4c5f671f01e31c19" }, "package_hash": { - "sha256": "f02c7cb2191509bef681aefc19cd07c05a47586cf568169987700ef03a16a40c" + "sha256": "bc36e1308a59c6b628414fd04566157ff2394b1c15121eeb153b96895eb85826" } } diff --git a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 18f4d3491d416c851bdd3051094973ef5d0d17fc..3bc8fefd5ed756e7fce4fdf983d40e5086302f2d 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:52", + "timestamp": "2026-11-03T23:32:44", "assets": [ { "asset": "m-2000_1700f-47a.usda", diff --git a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 691fe4e8c063050d06ba54b2e22352f59c97bf20..95f85d2efccbfdffa875a5607cc86b04157f29bb 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:55", + "timestamp": "2026-11-03T23:32:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json index bafdb82c4237539b9a1346f09c85e2581724d38f..deaa33a2c602fd9f3fc001aa2b56bfe9d07f57a3 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_1700f_47a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_2000_1700f_47a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_2000_1700f_47a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-2000_1700f-47a.usda.png", diff --git a/fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_benchmark.json b/fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_benchmark.json similarity index 99% rename from fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_benchmark.json rename to fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_benchmark.json index df910851def31276fcee1b795af4bdf55032485b..a6e7626f8a882a2eb19c70dbd15a311767e69d10 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_benchmark.json +++ b/fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-2000_1700f-47a", + "asset": "fanuc_m_2000_1700f_47a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_validation.json b/fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_validation.json similarity index 97% rename from fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_validation.json rename to fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_validation.json index fdc07148d41a0281ebfc072aa3f536fa1de29f86..4120b844d7e8e89f6e023c68438949c7eb05cf34 100644 --- a/fanuc_m_2000_1700f_47a/.metadata/m-2000_1700f-47a_validation.json +++ b/fanuc_m_2000_1700f_47a/.metadata/fanuc_m_2000_1700f_47a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json b/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json index 39b8745156ea347bad8762d912d376e1d06edc92..26c395cda5adf385e7de5a625827e04605b29ade 100644 --- a/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_1700f_47a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1700f_47a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_1700f_47a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "450013a8f51b5804993533f1c3dabdb0d9676e508dec3845a7560e10c3343e50" + "sha256": "e928082c5aed086badbf9026bebbe74fafc375b6162927b6c60a046b536c6a29" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "37e96c57c96bab3f7171f5085f447d14d33b2a7ba88e28d455ec8760f661f398" + "sha256": "ae03c6af7edd858cbfd3167ac914aed667428de65c269f8a2f5e159d753e3757" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_2000_1700f_47a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "70e29ba308bb988060c6a8914204fbeec854f219c77649ff7cd8d128d96d7c4c" } }, { - "name": "m-2000_1700f-47a_benchmark.json", + "name": "fanuc_m_2000_1700f_47a_validation.json", "hash": { - "sha256": "af73348c5a0f51bd38af2077e4f1e74d28c0b829329a3e28d45cb04b52600d0d" + "sha256": "60d783724b492bf4f8831c6c6a9404cf7d16f50082e6d05b0025caaec9c4b57c" } }, { - "name": "m-2000_1700f-47a_validation.json", + "name": "license.txt", "hash": { - "sha256": "8f7469d45903ee645a2777c5cdb7055d7fdd79907b3fb7c201bfc96beb468ed3" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "58e75e13502b69483caadd757439805780d8921d77a28550bb7f51c056de4867" }, "package_hash": { - "sha256": "06f00d5aa44ff946bfa3087a2785dd3b17aac0bf9eef75f1ea5546065db8d95f" + "sha256": "30cbafa617d8dc989efb39768eda2054764e9982608dda7520435efd009ee3c5" } } diff --git a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 36fb93eb9fadfeaadfef52124beba9922b7678df..0165c58378a414cdc7e241f00ce79acfc029a367 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:21:56", + "timestamp": "2026-11-03T23:32:48", "assets": [ { "asset": "m-2000_2300f-37a.usda", diff --git a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4d8fbf7411933faa70df88dc542b08ea8b31059d..73e1a75daeb95766de110b6ceefede7ad7cb3187 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:21:59", + "timestamp": "2026-11-03T23:32:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json index 273f363b82d60d71f3956451ca5050f85f6fe36e..572879e3a2ad2bdeb7f6db9dc1b91702f2cd4fd8 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_2300f_37a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_2000_2300f_37a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_2000_2300f_37a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-2000_2300f-37a.usda.png", diff --git a/fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_benchmark.json b/fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_benchmark.json similarity index 99% rename from fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_benchmark.json rename to fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_benchmark.json index a206b4167e6852c354a8d37dfbb7d1131e1868fa..d1d46201b27848de75e614ebb707dca3510fa82d 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_benchmark.json +++ b/fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-2000_2300f-37a", + "asset": "fanuc_m_2000_2300f_37a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_validation.json b/fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_validation.json similarity index 97% rename from fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_validation.json rename to fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_validation.json index 96e959fb93d4b565323ef58050be91e3b22aac3f..aa3d3c88deed60bdeba66ca9ba597e32321773e4 100644 --- a/fanuc_m_2000_2300f_37a/.metadata/m-2000_2300f-37a_validation.json +++ b/fanuc_m_2000_2300f_37a/.metadata/fanuc_m_2000_2300f_37a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json b/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json index c04b8ecf7429f27d3478097b8d523d3ff2f6fd1d..294243f1927f919bd8c165c8349c79c4ef8c20d8 100644 --- a/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_2300f_37a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_2300f_37a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_2300f_37a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b6d34e7286b23c9979381c2a6c86f8356227c149c7126e4be28c3a050af89318" + "sha256": "10fa690740a3974f433c25bbc3433446c3f899317ed67c4b96761f226810b734" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "24bdcb180c69710934bd241a345524ec2e2ffd27489d520698e02f77c4bdd5b0" + "sha256": "e5895e778caee29d53932edf0073fb0c37de7c67330f05a329524c57f7aeb269" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_2000_2300f_37a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "5df8fae184f07b2b8cdb5aaef8fbde2fc1ad137a5106e0461a58abdae2981566" } }, { - "name": "m-2000_2300f-37a_benchmark.json", + "name": "fanuc_m_2000_2300f_37a_validation.json", "hash": { - 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"timestamp": "2026-11-03T21:22:00", + "timestamp": "2026-11-03T23:32:50", "assets": [ { "asset": "m-2000_900f-47a.usda", diff --git a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0d6efc9c1c9802cdd8088c97cc7f9a70f8bb1b34..d7e1099e800febc11b9022a6ad71fbb4fd4cac42 100644 --- a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:22:02", + "timestamp": "2026-11-03T23:32:53", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json index 041c950e34770bcf820b199c839701be634a0250..32473f835102f768e05c53aa98c9e8d73d15aeb2 100644 --- a/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_m_2000_900f_47a/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_m_2000_900f_47a/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_m_2000_900f_47a/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/m-2000_900f-47a.usda.png", diff --git a/fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_benchmark.json b/fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_benchmark.json similarity index 99% rename from fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_benchmark.json rename to fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_benchmark.json index 55989611ccb2019e6d9138d942f3a61bb5640ff0..94680987807af21252f8917c311167b21c64acef 100644 --- a/fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_benchmark.json +++ b/fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "m-2000_900f-47a", + "asset": "fanuc_m_2000_900f_47a", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_validation.json b/fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_validation.json similarity index 97% rename from fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_validation.json rename to fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_validation.json index ebe512721b74e45afc2a6dec5c30f2bba32a0d28..e5e8682f37d3f268c52b94b969d3e79e4efe11ac 100644 --- a/fanuc_m_2000_900f_47a/.metadata/m-2000_900f-47a_validation.json +++ b/fanuc_m_2000_900f_47a/.metadata/fanuc_m_2000_900f_47a_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json b/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json index 67c3ce1c4039f473018bef6d76ec79a3aebeacaf..5b544a4b517ff978faffb54462e797298800e9b0 100644 --- a/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json +++ b/fanuc_m_2000_900f_47a/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_900f_47a.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_m_2000_900f_47a.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6b53e1ce64bd2b1bd052a1cb03f0eb84c4b2b310b81b636c71876834694c4c9c" + "sha256": "73170ab96b232855def0a2136975c583788252a3de09e21aa4c10aa08c0eb968" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "fc7cee30b9b7d095034c7d5bd8c99e6b76cbeae1ebed0bd6cdc08108fd5ddc5f" + "sha256": "1737e955787402cef927c6f91843e5489d0ceea593cf37701e990d013938c91e" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_m_2000_900f_47a_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "963ecd26661b1e7ff4b7316400c83242a0bc742a9a2611dae4d392e220f7386b" } }, { - "name": "m-2000_900f-47a_benchmark.json", + "name": "fanuc_m_2000_900f_47a_validation.json", "hash": { - "sha256": "7d6da7ad3b04716348a4a47a4e397ef10ddb215f968e22dec2121d39f20f2c32" + "sha256": "48be480e71968604b3c5f47a045de7d603fb44cd1877014b714fa3ba436bc055" } }, { - "name": "m-2000_900f-47a_validation.json", + "name": "license.txt", "hash": { - "sha256": "703ccb0ab2a25c52f493556f8c3169815dad3beb86a2f5e1d4868c61f436c090" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "874d0c800538e9faf9cbce4cda19f3dd429dfb4f8f2d386e9e14e742ae1de77d" }, "package_hash": { - "sha256": "2a43f072e07d6a582a91a07e5f02da0287f371d3faacdbd75a4d015195459c6a" + "sha256": "0ec3646d382496dc354a5d3d1fc848ba736496d476d4d55ca6293cdadfe5f16a" } } diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a74eeaaecd386d15f701d86d4ee9ca759c3a7cf3..d47f856c437b03601a362341e0ed82b825f1e263 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:49", + "timestamp": "2026-11-03T23:34:17", "assets": [ { "asset": "r1000ia_100f.usda", diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index c97ebf99d35b8779a9473a78d55cd57ec395c061..7da2769dfe59d35171b52392b719fa567da9bf79 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:51", + "timestamp": "2026-11-03T23:34:19", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json index d21ccec59f2fafdf7ceacf5daa1c64052fbb795b..303d996543cdf7c8bd7e878a2ddb5671896d5730 100644 --- a/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_100f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_100f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_100f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_100f.usda.png", diff --git a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json similarity index 99% rename from fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json rename to fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json index 94cfb0c92abb13c9667a2f7c8122686f1139e97d..05833bac4379144309f8fbe1d96c8fb6dc42b2e3 100644 --- a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_benchmark.json +++ b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_100f", + "asset": "fanuc_r1000ia_100f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json similarity index 97% rename from fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json rename to fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json index 0ea3a436801137acce749bb107e9940f4eb99a57..63695d4f83711c82d0535f3de096eb49fbe10e57 100644 --- a/fanuc_r1000ia_100f/.metadata/r1000ia_100f_validation.json +++ b/fanuc_r1000ia_100f/.metadata/fanuc_r1000ia_100f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json index 23b6bffb8ac272da00ac90fadde552ad1a8ea589..23758963f32a880e6356d5e6713ab41d2fd3b65c 100644 --- a/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_100f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_100f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7c1918adac30e6a6ad4a294bd7354d0edf16d13ee91486d67d138b86c0778211" + "sha256": "e2d7fa0fbf80c9ae3afefb9be1e3c2eeda6260b3192df58012a4d8e257a45c03" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0da7858ab20651f01a0e2edad911918e277ac1b147389e14fd5e7c44004232b0" + "sha256": "b13b759404c85a1843622882ba65f3f97586c191ddb1b0d4970964867ebc8dd0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_100f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "9780a5b842ebf651ad04ac5017bc14c18063d9d437d5b051f4052992ff620a5d" } }, { - "name": "r1000ia_100f_benchmark.json", + "name": "fanuc_r1000ia_100f_validation.json", "hash": { - "sha256": "50ac60ccbc47c66f5efbd4bb08b9a7ff7ada5ff61ea26f292f030bec15239d19" + "sha256": "8427c9b8b8d5f26a31e7845dd197c63c520f3385e3bab408483bdc02ed88caab" } }, { - "name": "r1000ia_100f_validation.json", + "name": "license.txt", "hash": { - "sha256": "62b188e57d6ca0f655e14cfcd8c426d7ae0f1d9a6c19adc7be2116cdebfd5e3f" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a9364704a7d171d375f0ba2b9ec96b4a59bd2746035106c903e6663c2eee8ef2" }, "package_hash": { - "sha256": "fdf5d5e70279276d3467b0efa946ca4fe4c40bfcce7691947f90d7ee7ecf3901" + "sha256": "7b5c9d865f149052fb97b822b2e438ee0444fb2bfaf6e49bb77cb2102f4e0b29" } } diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e0cdac8bbdc3421aa3b49b04d51239fc83bd01d8..673f30ce3dcaf2ad0175aefc2d13834052797d54 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:52", + "timestamp": "2026-11-03T23:34:20", "assets": [ { "asset": "r1000ia_130f.usda", diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index be6173439c75b869c961523e231e9402bcd20dc1..054fb515a8276dcf11ac9df0e342d11528637d18 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:55", + "timestamp": "2026-11-03T23:34:22", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json index ec1d5406ab91ab7b4a4f769561934757dd196450..4b92a617c6161d417ace6f94ae0e4c02877993e7 100644 --- a/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_130f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_130f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_130f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_130f.usda.png", diff --git a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json similarity index 99% rename from fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json rename to fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json index e72dda23b6ea1c1b6ddaa6cc97d61eef25344538..c44caab295c2bbbefe0c3e4e64e680a891bb056d 100644 --- a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_benchmark.json +++ b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_130f", + "asset": "fanuc_r1000ia_130f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json similarity index 97% rename from fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json rename to fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json index daf27cba78441b5b32b771b3239dd219ddba4e41..5e8e95096ad9149e1bda7fe0d9d8335d464f1b97 100644 --- a/fanuc_r1000ia_130f/.metadata/r1000ia_130f_validation.json +++ b/fanuc_r1000ia_130f/.metadata/fanuc_r1000ia_130f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json index 0bc10a662ac74023f8017d96a06bf2b400953ba1..74e2f126c7fadf8273d36b838d3a86c166a1f683 100644 --- a/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_130f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_130f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2eeb6d1fe3928de060ce6d923dcbe4e0400b428e0bb8c9eba19bd9e5e7c2180e" + "sha256": "6ef71062966dba36c582b490d307b8924025f4e4c43a2fbce65966836072f0ff" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "5d4ce6935c596a764be4a0794b27f740a90125ac2379f8b9ad7966960b977a94" + "sha256": "d0a3c0aeb8b4a36ddf730132c48e414f262f1bf6f962abefdbe4720d12a99dcb" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_130f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4e794a5e4e480f1bf50e5310f011a726971074545f109c0ee86d8702150a6c87" } }, { - "name": "r1000ia_130f_benchmark.json", + "name": "fanuc_r1000ia_130f_validation.json", "hash": { - "sha256": "9762d4a73e7419f2ed0c631ba281711a555b29b8dff48ebfde30ba8aaaab632f" + "sha256": "12bf6db9b1a96bbc4df6b3a19f3e99bab85b82748f8bd5779d4dfc1e5bd0b3fa" } }, { - "name": "r1000ia_130f_validation.json", + "name": "license.txt", "hash": { - "sha256": "2cce8de71cc9c7ef1d51e48b29ee9d024fb7a5aa57d74ee97bcd87884846a7af" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "63759d43ecd03295b3e3f041b1d70ece8e3f85cee5f367075a543d88637ae261" }, "package_hash": { - "sha256": "1b713dfa9c8d1f55473f780dd14019481fc57b6bb03a6524509e71fb13eabab8" + "sha256": "3eeaf45c6a7f0332a12cf484ac71083bb19e5d995c9fbe43c25caa3b43e12020" } } diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a6499e8cdec8882306a396a6fe636066463366b4..c1ea4e8462c4c1d110233b9b276cec244bc8b9b3 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:23:56", + "timestamp": "2026-11-03T23:34:23", "assets": [ { "asset": "r1000ia_80f.usda", diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index bc1e20bc27579a22f3336dce0c0887e462d4968c..5dc2c9401c2c0e9ecd9112c85377ded874e4501e 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:23:59", + "timestamp": "2026-11-03T23:34:25", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json index 9752a12915f97d5d9ec0bb46abb1fb0a3601a781..55833931b5a75e44da75c57454c8b280a697081f 100644 --- a/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r1000ia_80f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r1000ia_80f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r1000ia_80f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r1000ia_80f.usda.png", diff --git a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json similarity index 99% rename from fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json rename to fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json index db18a4caf87e4bfe14df3cd0758490bafd104427..eee1ffe6ec97b9a1b5dc934a933bb50b61f4a35e 100644 --- a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_benchmark.json +++ b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r1000ia_80f", + "asset": "fanuc_r1000ia_80f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json similarity index 97% rename from fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json rename to fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json index bd7c083d535d1a2227b191f001dbbc3d4b938f7e..058b4df9d47d51c9ac489c5545c8ec6af89f5534 100644 --- a/fanuc_r1000ia_80f/.metadata/r1000ia_80f_validation.json +++ b/fanuc_r1000ia_80f/.metadata/fanuc_r1000ia_80f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json index 8f4d908128af330d0f2b2349dfc00eb59c865356..da801ed3aa54c27b3aef6b692f987609f8bcfd3a 100644 --- a/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json +++ b/fanuc_r1000ia_80f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r1000ia_80f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "76a5220125d1296c056217523fcee7044119a29e21a505f1a059bbf9d4b11503" + "sha256": "2bbc9e9f79a5e54d6a0a2913f047496127f5f5ce72092ceba76aae72c2612368" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "08739ee693fb1dba33695b633b7aef7d6d24a0e1df52fe9e60936b10738c4a11" + "sha256": "19bba9167fedace78d53009163dee147b750485a89a505e8a9c9bb68332b018d" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r1000ia_80f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "218724b6d18c774cd203175ca62d67f5362cc9f318fd33e34a7be52fe5c064f0" } }, { - "name": "r1000ia_80f_benchmark.json", + "name": "fanuc_r1000ia_80f_validation.json", "hash": { - "sha256": "9fc44035c628369183fd74fe35e6f7850cb69c7f0c497b954a457c0da94cfa44" + "sha256": "4e52ec803fa9e293e23bb8f42f5ec43fe4086c948744c8338d80f95678a2c1b4" } }, { - "name": "r1000ia_80f_validation.json", + "name": "license.txt", "hash": { - "sha256": "becfd711659e1d384ed641157efdd7a3306f09326bd0873e83b437ed2bbacc14" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1b73a9dc88cb894f8abfd89a42f852f1e8d6e011476904eb7ae9628f9ca5e020" }, "package_hash": { - "sha256": "1d89e0e902d2dfc69a6d1db3025cb3110b10e6dfd8cc50ac21912d4e48a2ac6a" + "sha256": "c7a2136b6643b4c6953a8a9a900ec7a61d85a35565067414c896d0294bb6e2fb" } } diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b15ba8f9a179b935dc67d2f2afe87cf85721dcff..b618ade989c348e1cf77c1a83cd8a0d712bbf69a 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:00", + "timestamp": "2026-11-03T23:34:26", "assets": [ { "asset": "r2000ic_100p.usda", diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index e031a601f4d0ff535099be74c34de24368378e98..3780e7c0ddbf51d0728d375621bfcbd68295625f 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:02", + "timestamp": "2026-11-03T23:34:28", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json index c28be8284a52df4bf3183efe6e0a0e9ca628186c..6f00faffa74944da3e6a06fd05a80a6eab3f2d9f 100644 --- a/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100p/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_100p/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_100p/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_100p.usda.png", diff --git a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json similarity index 99% rename from fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json rename to fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json index 06ad357f2b97cd22527d926adbf2d4e814dc280a..597d7005ce921a66efa759258c581c8a90f7a97e 100644 --- a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_benchmark.json +++ b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_100p", + "asset": "fanuc_r2000ic_100p", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json similarity index 97% rename from fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json rename to fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json index 02f650cac808ea9ed38dd2c1549f857a33d9c898..2df9d21efb501b56d5842ddf3e24ad63a42ce406 100644 --- a/fanuc_r2000ic_100p/.metadata/r2000ic_100p_validation.json +++ b/fanuc_r2000ic_100p/.metadata/fanuc_r2000ic_100p_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json index 06d13a8352a911f86387d9e22c9cd5ecfd49c2ee..09aca68b4becaf78047958565dd84eaa204bd466 100644 --- a/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100p/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100p.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e14d63e32f889c7efdfd4ebf5ad5f1cb8462b90b8cd344e5ac31b36057f0e206" + "sha256": "66986caa60f6d39e4b08ab2b549d9c7e26d77df1b6fb4781bd7cf61e24fbc28e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "8e9392b1477b87db0c51ed9a8305eafe61d1456e9a08fc23f3df9253cf2dd1e3" + "sha256": "99ee219ebdef3d8ca4e40d84719740c587a05cc5d84df54e78559265167806b2" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_100p_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4e9c6a55facfb2b9f78a7e63f819c265e90e71bf51503975e679e69abe1a95f5" } }, { - "name": "r2000ic_100p_benchmark.json", + "name": "fanuc_r2000ic_100p_validation.json", "hash": { - "sha256": "854b735c9566544a8779df5237867cee9ebc3c95bdd815a3be243bf1a6309f71" + "sha256": "1ce442c8fe9d9419526ccb5648aeabac7ee8254b06bf02cde9158424fed43ab7" } }, { - "name": "r2000ic_100p_validation.json", + "name": "license.txt", "hash": { - "sha256": "7a6190e6b0477375b1fbab91ba79d57d4e5485a5c955453234bebfa9ecd07899" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a091841462351d24dc708ffcd3f16320987093d6dbff1bf52dd58c7cf8bddaf1" }, "package_hash": { - "sha256": "d38992429bf2f89443d798376767a8d73b92a17953792921f262c0ad99ed17ea" + "sha256": "94a10f48474382bcf6c0a2c3e4ebd27a5cd33e11aba720c879dceb1da2ce1b47" } } diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 459b587d128090d29d95ef656c0d95f2cabc25ff..a9665fad6973d57efc59bc66b9dbc06f628cafa0 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:04", + "timestamp": "2026-11-03T23:34:29", "assets": [ { "asset": "r2000ic_100ph.usda", diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d69d576f07f1d9f46a4332e8ccd3ddfd0e163afb..1ce0470b5cbf0a677168215322561a647e6cc81e 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:07", + "timestamp": "2026-11-03T23:34:31", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json index b185761d06ffbcc7bf02875b883d21d0866ff94b..8bb6132514368198d97a0ec4b4efef80bca56945 100644 --- a/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_100ph/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_100ph/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_100ph/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_100ph.usda.png", diff --git a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json similarity index 99% rename from fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json rename to fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json index 0f36e7a3c7421b7ae3f26673bec51f39e81bc6bf..13a6e372166db9574ea056008b7325944e01efdf 100644 --- a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_benchmark.json +++ b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_100ph", + "asset": "fanuc_r2000ic_100ph", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json similarity index 97% rename from fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json rename to fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json index ea3b0e1159b26851ac3a3666a5fcc21d040229f7..3ec313a31c568603a7e620848e7b6cb74e3b1e43 100644 --- a/fanuc_r2000ic_100ph/.metadata/r2000ic_100ph_validation.json +++ b/fanuc_r2000ic_100ph/.metadata/fanuc_r2000ic_100ph_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json index dc1afd0774eb743b3ab86c961db8276c0b48006f..ca010ad9ab3443b1f229c6b6fa795366d7fa27bf 100644 --- a/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_100ph/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_100ph.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6d99fc7e1d28da13258f16a3bb4b4ba0cdc27567219fcb9c830092bed9e20204" + "sha256": "7da348666a689d5d73ea31234149929c60c48ee704c32b91c5b3bff1d7b619ce" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "d9d1d17416fe243069d11313fd4a15a1cea3aace6c7d0f4d596a10b1b93068f2" + "sha256": "5699c1f3ee77baa4c318141f8d22d95023f4047b3d60ab409601ea8d198aa021" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_100ph_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "2dbf8207589248cf9fff62b2495dfdecaa2cdaeb902798d2c184fd7071e7479f" } }, { - "name": "r2000ic_100ph_benchmark.json", + "name": "fanuc_r2000ic_100ph_validation.json", "hash": { - "sha256": "4ad52f2142d5ded6ef41ff9cb39c19bae52fa751547e7b566c3ef0b888a9dec2" + "sha256": "25c3d3330f645800fbb649b4790f6e51176345d5c1229c3ed379c3e84454a332" } }, { - "name": "r2000ic_100ph_validation.json", + "name": "license.txt", "hash": { - "sha256": "6ad7f4658c74117165d451c8ff96fb6bb3cfdebc2fedece19799f2a229fd2e98" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "f6c3f58690156ac864bb7f48fd32287a419ec0acdcc5d24038258e048c41aa51" }, "package_hash": { - "sha256": "1cb5eb667f653e43dd0264a2e30bb64c3c1858f174454019f60b3cdbd6b701e8" + "sha256": "d0d759c966659abae5a2c6490248da29b2720ccf109d30c5b7e334ee7ebeb231" } } diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 27838c775894ea98cf0575012efb3ab97582fc8a..9fa552ebd4bf7d7d266c9a1ee95e8dc687eb0102 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:08", + "timestamp": "2026-11-03T23:34:32", "assets": [ { "asset": "r2000ic_125l.usda", diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d84adcf3e21256a3f88c7a0ffddebedccba5cd85..36b5c221515c24d470442be77002f916b021904f 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:10", + "timestamp": "2026-11-03T23:34:34", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json index 12f9b5ec6089bee371eddabf08b963be25d575e2..49ee68acc23379c4512b49f0b1c45a4a90e93060 100644 --- a/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_125l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_125l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_125l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_125l.usda.png", diff --git a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json similarity index 99% rename from fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json rename to fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json index 6d3ef86e72fab66c78c37cb75acf1fe80d77904a..47ae84bf93b489e0808d8f71374caa709ed64285 100644 --- a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_benchmark.json +++ b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_125l", + "asset": "fanuc_r2000ic_125l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json similarity index 97% rename from fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json rename to fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json index 216c6e74bfd3e452c86d717c8fe639722294c8d9..859dabb9265100dfa30368f3319f47edd0e9ec97 100644 --- a/fanuc_r2000ic_125l/.metadata/r2000ic_125l_validation.json +++ b/fanuc_r2000ic_125l/.metadata/fanuc_r2000ic_125l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json index da3cde167aa0b4d7203d86b4b15c9c2317a1e2f2..221415db9e0021deb137c41b741d1e7e247bc354 100644 --- a/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_125l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_125l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9c4b93e72a5a0d72a6c5d93d34f8a080ec9e21c569aec727235dc3c0eb07efef" + "sha256": "705df73603533f83976fba9d9942c4e3400325bee299213e635fbbe9f8ee5147" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "919df52e05c53ba1d0e1dd4aba18e30ba37ecffd21dfd0a8eeb14c699112b332" + "sha256": "fd1d7aefd91be963f2ee4f69d48a4dd8a40f4c4e696513f99a3952e9b783d0a0" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_125l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "78c370705c518ef2fb10cb8d6c1e075ba340e5a6cb52e25248c59d155daa52bb" } }, { - "name": "r2000ic_125l_benchmark.json", + "name": "fanuc_r2000ic_125l_validation.json", "hash": { - "sha256": "3892220374517a42c62fd1061edd71db5203f01b643cb4a38f13760654661b2d" + "sha256": "24ad5b5e6db2fcdb632120de84f977a0afbd43587ad54c4b8955c1584a3d1911" } }, { - "name": "r2000ic_125l_validation.json", + "name": "license.txt", "hash": { - "sha256": "774c0295b126b6793ccda56f3f10d383609ff004fe465702c441901af6ec449a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "32b38d79bf1f5f61fc3187d76dfab8c08691941719a72992057296d05e248063" }, "package_hash": { - "sha256": "f381aeac7325da9f8001735c2493b94c121f26e5f4583d81cf55e679ee8be71f" + "sha256": "95fe5af7e1086af3f2119587b3e14d43a625183ac92a07404ea40add2e1e36b8" } } diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f11167d1cc4f2f8f4d1e9b9be9a58dbae248b9ac..41eae27788d604370303033792b06dfe983cbc70 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:12", + "timestamp": "2026-11-03T23:34:35", "assets": [ { "asset": "r2000ic_165f.usda", diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 37693d44ad4ad8ca886f2edd69f334ff41fc6a02..1c240ed9a09239ff0ecb5dd1e389c35535164360 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:14", + "timestamp": "2026-11-03T23:34:37", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json index 711db45a95497a457805c883cb5c6c71d826e13b..1e490e8b4d20d7298a1cec6025ffde4463d80fdb 100644 --- a/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_165f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_165f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_165f.usda.png", diff --git a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json similarity index 99% rename from fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json rename to fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json index 56f56055b42d728ba1d437b6faa90b6a94b6d708..1f887582b37bdf03aa68961bc13149673bc65362 100644 --- a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_benchmark.json +++ b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_165f", + "asset": "fanuc_r2000ic_165f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json similarity index 97% rename from fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json rename to fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json index 8c454bd39e6c43a9d21d7d806167284b736233d9..4ef520420c594b631da7739a65acace2e2273261 100644 --- a/fanuc_r2000ic_165f/.metadata/r2000ic_165f_validation.json +++ b/fanuc_r2000ic_165f/.metadata/fanuc_r2000ic_165f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json index e6e5c48a8d7cd31f85ba7ffef4e7492aebb835fc..50a5e7794f5b7b0e37ae569063c44094971c76ad 100644 --- a/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d417e6c9110f9a79e0aa4fda2c480369d664c441db81276e93a95277f2d3067c" + "sha256": "f6752aa0d9bc15a7661fb27fa003a6019decb4ff4ce6cfa2b7a6d9170fc7150f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2d2414a35233da1799d660ea138fe176d71259b4b0b45964fa41394546a68fbe" + "sha256": "227ce29b0002215f403d5b96a35c3beeba15ff3baf9b1f0187aeecff0314f35c" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_165f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "6080aa92d1f29b5d747c32e8aa7bc06e928cde5660f6f1547666ff560e6cdefa" } }, { - "name": "r2000ic_165f_benchmark.json", + "name": "fanuc_r2000ic_165f_validation.json", "hash": { - "sha256": "869b4d7db6791932167f1e2550bc1591690e3f5b7da60d0ebc7b6c6d92384084" + "sha256": "e8784ff374ec6f44181b57e2a42c67f99725156b29eee34db955e9b59851088f" } }, { - "name": "r2000ic_165f_validation.json", + "name": "license.txt", "hash": { - "sha256": "c07553bc67eabe253a4a61f032a3f0dfa20e25107ac114d7fe8e7174fb9ec4fd" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "ef389eff5efdf5ea55b2cf0de30b9840351e3f6f0007ee644bb4c1bead86a8a7" }, "package_hash": { - "sha256": "73f2d803cc979821849ffc3429fa4c6be361e078984ddad74cadbd235a2c7479" + "sha256": "fb11c02a751620779e0411ee55e2e5d2673541e1fadacce80d5e5066d67a7353" } } diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 928d26b5ea405cc1f9b1ce07f9efd82d37f6f48d..8a52902bc6092d55db52f9edd1e4c5149a6ea5db 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:15", + "timestamp": "2026-11-03T23:34:38", "assets": [ { "asset": "r2000ic_165r.usda", diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 52b5b7b9c6ebb50780277b4a56701f0398e4a569..0f3e523e072f2ec101a024c10b7264aff6ae6b6d 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:18", + "timestamp": "2026-11-03T23:34:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json index ee0a42d0c07575daa8f9486018cee150bb0ebc56..ddd685dceaa47e99d21aa54c4b410ea631296077 100644 --- a/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_165r/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_165r/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_165r/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_165r.usda.png", diff --git a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json similarity index 99% rename from fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json rename to fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json index 8b8426cb101ebd78660e743155e0a7ca8e016177..9feb92e28b27d1c7738572c3ffd1c3fb2220f210 100644 --- a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_benchmark.json +++ b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_165r", + "asset": "fanuc_r2000ic_165r", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json similarity index 97% rename from fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json rename to fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json index 97cae2dd368fd7b8ab64e591d8a64247bebeeb68..27280ee1d8b6881ee514ad5aed145fe5212d1a2f 100644 --- a/fanuc_r2000ic_165r/.metadata/r2000ic_165r_validation.json +++ b/fanuc_r2000ic_165r/.metadata/fanuc_r2000ic_165r_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json index a987ad2a38105349397f3bb70ae063e527e67f91..3928130b9107583b416e2fab071c51510a29ea7a 100644 --- a/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_165r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_165r.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5a75605eb1557de4f5ca45b31cc2621c8f10468314df77c7d46d4a0b909dac87" + "sha256": "ae706e4e775a71a27b0f45e170b029608d8ff4670ebc34a490c99c2f76d10ef0" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "cda6f121dbc1c7306e14d73072eb6855b082b8ad4e04dce724155b1219b65831" + "sha256": "de9addecbba4608c4bdc1d061fd597aa87f7d86c41be2f50de7d1d60fe201a2b" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_165r_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "f4d3291a523499c2873f3fb0d4d56fa0b7c89a7daff7add8c45ef1f6287e0b6b" } }, { - "name": "r2000ic_165r_benchmark.json", + "name": "fanuc_r2000ic_165r_validation.json", "hash": { - "sha256": "a8bdc5e96e878afa22674967a1d6864e5c0c61968cc9db84a37aa51f1f8acf99" + "sha256": "89b6d856fd06f14c9c831e4f00eb59d231d23ffef7284f106a1fdd8e41f85491" } }, { - "name": "r2000ic_165r_validation.json", + "name": "license.txt", "hash": { - "sha256": "f9593d94992b3717488454adb8efc08ecb6f856397b5e99cab2e0c811b956c7b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2c31b1d1177f5e28dc4d264a38d492a08b84a8b6dfde96620b50796ea9e669c7" }, "package_hash": { - "sha256": "b01575eec76f39b6334608ac56d88628c506c61f4075ef5407272b17700c753b" + "sha256": "40a7b94710f1c94af905edef9fce1a9918740eb83bacb518d34043434bd3033d" } } diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 14bafc9f899d63200388d24f30b02b61cbd38924..d9cb75e4eec362c268a47c968a7f795e6bb4e4a1 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:19", + "timestamp": "2026-11-03T23:34:41", "assets": [ { "asset": "r2000ic_190s.usda", diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 973c4c5795c8c75726fe4d18ef7912858077d616..3ebf35d517c41a56bbd41459dc2d6d85966405dc 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:22", + "timestamp": "2026-11-03T23:34:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json index 21e37d1d48cadd1914ea1c98a3f4eed8f7b42937..5b0e7e0902bfe4d8aea97a9e72d4ed53a2775157 100644 --- a/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190s/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_190s/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_190s/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_190s.usda.png", diff --git a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json similarity index 99% rename from fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json rename to fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json index cd13208daec6f19d35344ce7d939fca19631f5e4..a271cd8c0bcac32049ce3fa4d2442a7d5d47aba3 100644 --- a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_benchmark.json +++ b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_190s", + "asset": "fanuc_r2000ic_190s", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json similarity index 97% rename from fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json rename to fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json index 1b4efcdea2cdf97d1db6ca00c3f65350ff110ab0..7dac908a4a3b8aded61211f46223a208bd9dc969 100644 --- a/fanuc_r2000ic_190s/.metadata/r2000ic_190s_validation.json +++ b/fanuc_r2000ic_190s/.metadata/fanuc_r2000ic_190s_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json index 6247709a0d521f0201fcff2fa88c7265335edf7a..18a4ced53916f9969cb487d2f5185b7eacdd601e 100644 --- a/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190s/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190s.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "449149ddd7e25fe01f0c34e64be7d0cab5dca221c53f7808d5db76c32040830e" + "sha256": "9f3b236cdc45b6ce5641f1d4ea913989b410917108aa75cb9bb185d6ed87a560" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "62b09f8a615d3caa638055ad9c8d67f1da67573c809d9f15157f2473118b10e0" + "sha256": "3d3c8b807ea25346efd27a06d565771be0cb0df913318f598bfd7e8bc407b954" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_190s_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4d6c13dce5e08cf078bf9a80053b054f45f60d53406f67c78b7b40aa48235ef9" } }, { - "name": "r2000ic_190s_benchmark.json", + "name": "fanuc_r2000ic_190s_validation.json", "hash": { - "sha256": "cdf690e2afae77446bc3e398b3dbfbfa3326a2f57a2c2a76aae184a84cd0536c" + "sha256": "0383ad5f3e6fdfdfcb6a89da06882232be5346f32e3bb8ca02fb3c76e29ea834" } }, { - "name": "r2000ic_190s_validation.json", + "name": "license.txt", "hash": { - "sha256": "a7e4b1176deab9facf8934fb4a43719c7e12b695a22137022e4f4d30b7f6572f" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "2f6ec0fea559a7f3e8d48d15c8a2dc3cc630eefe9635be3924cbb921f6ff523e" }, "package_hash": { - "sha256": "17419ba817f811b59c98902768126135b79242d2f44ff9e9ae128be3f84e8658" + "sha256": "5839078e6bd328ebb3d3200a392481b5644eacf6b3e2874dff80c0dcd3595962" } } diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7fea5fc38945c5755fc69b7b4eabf03be0c25e75..1efa2633684b0227390269dceeaf24044da57d9e 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:23", + "timestamp": "2026-11-03T23:34:44", "assets": [ { "asset": "r2000ic_190u.usda", diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9d88b063cf5d72a3985ec39134462abd193aa844..c0fd8c3ad09758e9df0c324c7c75dedc8f18f716 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:26", + "timestamp": "2026-11-03T23:34:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json index 3ac61bf6685650afc7fadc379c3967cf24886363..d2324b0fc3335c4d0dfea8b1c0d07adfbe3b9306 100644 --- a/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_190u/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_190u/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_190u/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_190u.usda.png", diff --git a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json similarity index 99% rename from fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json rename to fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json index 49d6ae72ca95e96c7d0513d903164c484f7d3bf7..cecb700d1b2c06bbe45e953ab5d8ee1c0934961d 100644 --- a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_benchmark.json +++ b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_190u", + "asset": "fanuc_r2000ic_190u", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json similarity index 97% rename from fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json rename to fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json index db9b58a425dcb9c935f39f016386357151188875..3836c780650a8d025d29763203a3ebfffb3971ee 100644 --- a/fanuc_r2000ic_190u/.metadata/r2000ic_190u_validation.json +++ b/fanuc_r2000ic_190u/.metadata/fanuc_r2000ic_190u_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json index 38db5ebab9dfdfa81590158d87c716b77a7f2fed..0d4e81e4916327953ff37c77252332d4dbd9cfa7 100644 --- a/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_190u/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_190u.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e047cc2454a42605b1b02e0ae96f31e9c3afb9019772a8ea97a3031b11e6c67f" + "sha256": "7e046e05498234f7bc59a7d17801f5b030612c1561a6eac906536c8b8a6c609d" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "9c52c8d9bf1d96b03db3d5027249773727f4f3ef4b4b071185b675cc3ce80a43" + "sha256": "59557e6687a7d19e828a6d369b6f75b4340bcb4768119e3870828c38446e4e49" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_190u_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "0f2e27c6b34fe58819184f2cefebdb6b3b4f46df5ca5f50723dff27d03327131" } }, { - "name": "r2000ic_190u_benchmark.json", + "name": "fanuc_r2000ic_190u_validation.json", "hash": { - "sha256": "e9796954d28a8691be35cda3edb2bef966060bcd9288bd55fb8e11980dddb056" + "sha256": "c68a289f7d918cb3f988d1119471a15ae1897a8dc313333e2b3045b6efd75881" } }, { - "name": "r2000ic_190u_validation.json", + "name": "license.txt", "hash": { - "sha256": "ca99f40c55399808b84aa111d1186d25bae7716d055e89973d1228c419ad7eb4" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "5c107ce84d468d602e1e2a2651e7d87eeab53a56b6fcf7ca886e9f5f12aefbad" }, "package_hash": { - "sha256": "6fb05822958d942674264f6ecb75c883253a25dba7fb4d5615cc589dfafdd9cc" + "sha256": "3652f5ac371e5fdb58675ab2ce67a8922ee9ff5ebe467e2feaaffc3c6a11b07b" } } diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 35b4dfbd7a64e5c88b8a196c6135e618168999dd..c1f2c04a06890f375348b1aa9d04cb38d30c5b30 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:27", + "timestamp": "2026-11-03T23:34:47", "assets": [ { "asset": "r2000ic_210f.usda", diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4e4ab7ad3adcec81006e83633bc6ce109be3100d..55de6da13a3446e0357b8d59434d8bc13b2981ee 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:29", + "timestamp": "2026-11-03T23:34:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json index 27b9ad0e52ce3a0dec8a693d166ca30b5f42028f..1564a561acaef59a0e65abe408c0ee95b46d5f18 100644 --- a/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_210f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_210f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_210f.usda.png", diff --git a/fanuc_r2000ic_210f/.metadata/r2000ic_210f_benchmark.json b/fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_benchmark.json similarity index 99% rename from fanuc_r2000ic_210f/.metadata/r2000ic_210f_benchmark.json rename to fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_benchmark.json index 564f8f243f43efba4c57233c2e47cdb627c695a9..9ca8f6a13a0b45b277d817eaf5a3eb06d8261376 100644 --- a/fanuc_r2000ic_210f/.metadata/r2000ic_210f_benchmark.json +++ b/fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_210f", + "asset": "fanuc_r2000ic_210f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_210f/.metadata/r2000ic_210f_validation.json b/fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_validation.json similarity index 97% rename from fanuc_r2000ic_210f/.metadata/r2000ic_210f_validation.json rename to fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_validation.json index c978995182624d90bc56c93ba6600180af52821e..94a2e07fe475cd2eee15ec90f373bc6dcc9d3940 100644 --- a/fanuc_r2000ic_210f/.metadata/r2000ic_210f_validation.json +++ b/fanuc_r2000ic_210f/.metadata/fanuc_r2000ic_210f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json index bc23f2f3bed9898084b2df59072cc085c3c6676b..c849185fb8227c86094b5d4254c1f10203f6f0f8 100644 --- a/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "c0f5c159bb61ef9529952e9c06f38683a6ddea4054326e7991e3761558e07ad1" + "sha256": "0562c2c264f4a031203be713cbc476615fec4df78df54ad9bfea372c0cd5005e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "78565b2cade32a8ab4fe2cd7f4a2481e380bea125ffb8205acc0bb28d4b71467" + "sha256": "223a98e511bbe014519660dbdc5508d8c0a42af03737a25c3f9cf2701670311a" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_210f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "e3f3fba8a84411e26a1cf7d3d9392d30b7a09d228c22e194682339513574db3a" } }, { - "name": "r2000ic_210f_benchmark.json", + "name": "fanuc_r2000ic_210f_validation.json", "hash": { - "sha256": "44a9ebd876d5948b400872243ddb2bbcd0b24836c5da59ea431b1d64fe57da3b" + "sha256": "3ca2e7dc1b90c4fc198cd7b749613de13a5604598e2e4a1d66107bf245d4b310" } }, { - "name": "r2000ic_210f_validation.json", + "name": "license.txt", "hash": { - "sha256": "309420490d2c7409a2da663391be0829bc5c8b7dc25735d890045f9433ac2c32" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "9f15875741eb85520859e11d06e2bb3e1c6ee3bcd4fed6a4ec6aa632d2bf9049" }, "package_hash": { - "sha256": "41b8fe61f1f95026f3ddd67375301e735c6f3231b225788e7d7538b1ab837b00" + "sha256": "179b97df4e61ce4be22e7877cc506bc4ee0e03ad1755a11634115a22e7dfdd91" } } diff --git a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index df51a6e77a7a3085771b334f007eeea9afc15bf8..f074a6c9a24ce464b2f7ad2c806afe4784fa5b88 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:31", + "timestamp": "2026-11-03T23:34:50", "assets": [ { "asset": "r2000ic_210l.usda", diff --git a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index ae14395e7cf34193546bc379f992ed7c8ea4c03d..cf92ceb263920ee0b0775b01fa8c62241c32ca0b 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:33", + "timestamp": "2026-11-03T23:34:52", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json index 7ef5218477c9876b6ca4945f57bbed7171eadfa3..e0729bf5e4d04130b3b45d61b9d23a5bb66bb422 100644 --- a/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210l/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_210l/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_210l/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_210l.usda.png", diff --git a/fanuc_r2000ic_210l/.metadata/r2000ic_210l_benchmark.json b/fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_benchmark.json similarity index 99% rename from fanuc_r2000ic_210l/.metadata/r2000ic_210l_benchmark.json rename to fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_benchmark.json index 39173dd92cd2c47ce5acf6fdb2c8fc9a98cdf5f7..349f64b0f2f4b182ea0928e9f3a62445654e121b 100644 --- a/fanuc_r2000ic_210l/.metadata/r2000ic_210l_benchmark.json +++ b/fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_210l", + "asset": "fanuc_r2000ic_210l", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_210l/.metadata/r2000ic_210l_validation.json b/fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_validation.json similarity index 97% rename from fanuc_r2000ic_210l/.metadata/r2000ic_210l_validation.json rename to fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_validation.json index e7ee52059ecf274313a6bbdd901c4d04115090d4..d09380ffc1541e9805cc99d42d9ca51879cba54c 100644 --- a/fanuc_r2000ic_210l/.metadata/r2000ic_210l_validation.json +++ b/fanuc_r2000ic_210l/.metadata/fanuc_r2000ic_210l_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json index 84b50b4a1181e7056f07755bc077c3e5cc6fdba2..b561eda69c6f9e0eb30603f5a66252dada08392b 100644 --- a/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210l/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210l.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210l.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "68d32e3a22ea3a748c8f42da4bd376a787d37a541f0f6a87e8bc6c9b10f0e84c" + "sha256": "3cf700956dac59df8d549b2ae52de5ed62023b8365757a3b9c3de4af977fb2d1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ea2b75d07e0a368e822128b35be21212a9ad5fe9e7ad8fe67fec88f19d0f5ba2" + "sha256": "d29b4197fb05803040af66ee02e8a4af19701ef3fbdcc0995d7d33c3c2e76131" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_210l_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "87111045bb162f1812d77d92d88a0060d1270ae0f2042dbe08334d648bcb12ba" } }, { - "name": "r2000ic_210l_benchmark.json", + "name": "fanuc_r2000ic_210l_validation.json", "hash": { - "sha256": "76af6fc708a02e3266d8b7abcb9c63c8d3ffc1a99a63046f26b2badb28911023" + "sha256": "04aeffee5de35c1e60dd7486cc7dd4b85e7e80341a1db55ac2215c10e54c8d85" } }, { - "name": "r2000ic_210l_validation.json", + "name": "license.txt", "hash": { - "sha256": "a50d8e42e5554673ac577ce5762b593e9c1a6150e93fe53a072721927322500e" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "fea45df5d7cc626c14beccffbf6ff0f2f2c4febe8b926541009879d7f2192197" }, "package_hash": { - "sha256": "78a08145079d5fbb87b1036fb6de85a1194584512e670a746e0f6485e23a187e" + "sha256": "72452386ed818d9f67fa63bd6f13f269a78961feffff40d57524250d8cf629c7" } } diff --git a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a7cf430723aa6f032dbe8d9b83cbbf21c8cc42b3..4ef064d4d2601c698886210a050734445ff0c395 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:34", + "timestamp": "2026-11-03T23:34:53", "assets": [ { "asset": "r2000ic_210r.usda", diff --git a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 519a295116b16028994404d6b1a5bd9debca486d..407d81857dfa6abc65c1fb93d9390e80fef6257d 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:37", + "timestamp": "2026-11-03T23:34:55", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json index cdc0b1d887128a7a042ab3c05a14a27c56d70d08..9aa89e06e26c7275b6e3d19fe304ff4b0b911d63 100644 --- a/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210r/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_210r/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_210r/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_210r.usda.png", diff --git a/fanuc_r2000ic_210r/.metadata/r2000ic_210r_benchmark.json b/fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_benchmark.json similarity index 99% rename from fanuc_r2000ic_210r/.metadata/r2000ic_210r_benchmark.json rename to fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_benchmark.json index 12513bec80ddb9f805759c3d1551019d25839c5c..99aaeff22c771203b16f19f898eeeed2cdeb5ed8 100644 --- a/fanuc_r2000ic_210r/.metadata/r2000ic_210r_benchmark.json +++ b/fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_210r", + "asset": "fanuc_r2000ic_210r", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_210r/.metadata/r2000ic_210r_validation.json b/fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_validation.json similarity index 97% rename from fanuc_r2000ic_210r/.metadata/r2000ic_210r_validation.json rename to fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_validation.json index 283d8a0571cca89998ef6e476badb89bc85f3913..582b7843969dedaa64f95c589854eeb3b002e3c2 100644 --- a/fanuc_r2000ic_210r/.metadata/r2000ic_210r_validation.json +++ b/fanuc_r2000ic_210r/.metadata/fanuc_r2000ic_210r_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json index cc2c3b9fb5d8d7e2b594c0cd1e55419d1db5679e..4a736c9c8212b95169ac7da496978bdea892f760 100644 --- a/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210r.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210r.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8f8cd561cb032c939d54b6cf055b217f9da068d4f05135bf71067fa0abc7ebc5" + "sha256": "11b21fef993bcf5d46874a2a386bd22dcaf6f45c22f7da695d11bd65dfd22411" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "194cee5ea71faf8c35549e4d9c0504c20eee9f8cdb560dc58b9d4e2288564566" + "sha256": "275b848871e17bfdb2bfdedcff08ab2643d88ff5ad1e3fd0dff47576e3013aeb" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_210r_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "33585b644fa416d89468fe37b1b719307945ffa27b36374876612e4027d8af59" } }, { - "name": "r2000ic_210r_benchmark.json", + "name": "fanuc_r2000ic_210r_validation.json", "hash": { - "sha256": "7fce2da6042f8a932c4347462a5bff5dd26e83088e38a6b501365215c96b1f5b" + "sha256": "4a4babc57a3bdd8009b60068a5fc11df7cdc1dcd70267f13121fe31530da2446" } }, { - "name": "r2000ic_210r_validation.json", + "name": "license.txt", "hash": { - "sha256": "12a84ee74704c80257a752d581e83b10b6e391315354a551f0e3b28739fe8caa" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "76ce5181de5ecbbf80af38d118cda485b5c0df3e01b2bda47f7085f8afb57575" }, "package_hash": { - "sha256": "18cf2e5cdd470c838c1cd42fdcca49f671e6a3900cc577bad11fa8e385eaadf9" + "sha256": "abdef47f7b5608ec8212052357717494c7e893a2e91c129510482ccd6837c222" } } diff --git a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index bd12df8a190fbb0539b3b2fbc5680b6166ce3175..25e6316317226e8c91f1e60778b781633ae4d849 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:38", + "timestamp": "2026-11-03T23:34:56", "assets": [ { "asset": "r2000ic_210we.usda", diff --git a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 53c5359dbdfaeb7d4fefeff90e0022cf6b268804..424d8006cff2495c920e964d3b7c2ca9e1c6e425 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:41", + "timestamp": "2026-11-03T23:34:58", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json index 126da32733f66ef8fcd970f378f72d92c2107e72..152740a51ef5e2c78dcb672d81721a30f61516ce 100644 --- a/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_210we/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_210we/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_210we/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_210we.usda.png", diff --git a/fanuc_r2000ic_210we/.metadata/r2000ic_210we_benchmark.json b/fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_benchmark.json similarity index 99% rename from fanuc_r2000ic_210we/.metadata/r2000ic_210we_benchmark.json rename to fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_benchmark.json index 638067fbdbacc6e52f2bf2552909f722675c3ae4..80af4b424bef56f107962f66b21a1c57d856c6a0 100644 --- a/fanuc_r2000ic_210we/.metadata/r2000ic_210we_benchmark.json +++ b/fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_210we", + "asset": "fanuc_r2000ic_210we", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_210we/.metadata/r2000ic_210we_validation.json b/fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_validation.json similarity index 97% rename from fanuc_r2000ic_210we/.metadata/r2000ic_210we_validation.json rename to fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_validation.json index 28c85157fb35afb68756b8672924d378bd9a606f..cab36cb205b96905483cde83c00a385fc1dedc36 100644 --- a/fanuc_r2000ic_210we/.metadata/r2000ic_210we_validation.json +++ b/fanuc_r2000ic_210we/.metadata/fanuc_r2000ic_210we_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json b/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json index 8663aed510b8c8e140ba4154168506c9c1d8cce2..915f48eec9133b660d1f7f531b1ec1771dd858a7 100644 --- a/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_210we/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210we.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_210we.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1779e4d898a13f162c1e17add235fac1aa5bb2c807b5be585fc9a6c360236a63" + "sha256": "d5566be33d335fd7e4081b0547f958e535460b8575cb2b68b3e46fa6fc0e8029" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2dc968ae08feb8e722e62413bc45c3f39deb341736b305ecc649e61d1c99d706" + "sha256": "28934afe0a80bde07c23c12e0954c56fc32a8f46c711a4abbaa1560193c0d10a" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_210we_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "1fa4db3eca682fcda9075cdc930e4f02bb8d15dfb0abbcfeb35d964c774551c1" } }, { - "name": "r2000ic_210we_benchmark.json", + "name": "fanuc_r2000ic_210we_validation.json", "hash": { - "sha256": "9fc071d365bb8763a0357222e6f77bd85ef7d8b62b54d28250880a2190267050" + "sha256": "158be71d78c40182227721d532ffde6a3d22dd87c4c285d0cb9a85ad43930a8d" } }, { - "name": "r2000ic_210we_validation.json", + "name": "license.txt", "hash": { - "sha256": "0fc26578a52bc8c5d7bcd7845ac625617b09d208c7c56ed1d2a60e56d52f947c" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "ed41fa340dd195ab30444acf67d8821764ccd56acbb44881d710cbdd5fab4d40" }, "package_hash": { - "sha256": "5e3fd19b722585debb850183c42a94f16c4a3002a3f24e6033f4574175c6cfa6" + "sha256": "deeeea4b6ff68e648c04f6ed4e288e892fb289fc79b53431d3bdb7c86823a6c7" } } diff --git a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 37774169794f388df04b5055da6c6526412277f7..a7828b030849a3b90eb4abed7503d6bd33e77db7 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:42", + "timestamp": "2026-11-03T23:34:59", "assets": [ { "asset": "r2000ic_220u.usda", diff --git a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 92d3604b154e090162903b2eaa338bf3728c2ad3..f931304f74cafd59bee54aa872ea6a309b156283 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:44", + "timestamp": "2026-11-03T23:35:01", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json index 37125431ba6e066ee4762585e1fbf129f0f0d36b..09e5f36549215628e3e81e85f9c4de6132a1ee52 100644 --- a/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_220u/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_220u/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_220u/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_220u.usda.png", diff --git a/fanuc_r2000ic_220u/.metadata/r2000ic_220u_benchmark.json b/fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_benchmark.json similarity index 99% rename from fanuc_r2000ic_220u/.metadata/r2000ic_220u_benchmark.json rename to fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_benchmark.json index c6b99896312d86ba260649e3cafb78c970a39522..cf9f8826c0745dfc1e56c95806d3e7387684a739 100644 --- a/fanuc_r2000ic_220u/.metadata/r2000ic_220u_benchmark.json +++ b/fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_220u", + "asset": "fanuc_r2000ic_220u", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_220u/.metadata/r2000ic_220u_validation.json b/fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_validation.json similarity index 97% rename from fanuc_r2000ic_220u/.metadata/r2000ic_220u_validation.json rename to fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_validation.json index 3dce8b6b412f8a492dc176f730c40bd39a20d119..410ae150b17a2f2c6e77897aeeb51ffcccf81031 100644 --- a/fanuc_r2000ic_220u/.metadata/r2000ic_220u_validation.json +++ b/fanuc_r2000ic_220u/.metadata/fanuc_r2000ic_220u_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json b/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json index 70a9b1e08578779ab2ec6346b682fe58b4dfc246..a4bd3a85e534367ee85af5e6cb46e542662d31e0 100644 --- a/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_220u/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_220u.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_220u.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "78b7cff80c90e2f928eddd5a1a43a7692b08697ae852bd52cb0d689d63ae7635" + "sha256": "9e8daa4428e15f8d1314d7ada398d237665137aaebec299cb0b0d4a85453e9d8" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4fbbfdcac532894ee44b77eb3adf380c3608c2858ba2f78cfa90dfabb8ea8af3" + "sha256": "db736e1876fde1fcb77922dabeef2cadae6a8d92c11f2b9c55a83b61f49e6c91" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_220u_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "5dd2934ab45183de0d9b41e35fec3e47346846a8cf6c0a59e0a311c3f4b94cf4" } }, { - "name": "r2000ic_220u_benchmark.json", + "name": "fanuc_r2000ic_220u_validation.json", "hash": { - "sha256": "e7ac43b5158c4dc4defbca94c606409f147db4396d250e8a0beeaaf59c6aeb34" + "sha256": "fb25d7cac2e55dd2aa3371756ccf408a7c49e013ae1e2d2a2157c264e63d9950" } }, { - "name": "r2000ic_220u_validation.json", + "name": "license.txt", "hash": { - "sha256": "6afe64916cc1bc54bbd8a4f6bb3bd7354f9d50b9a886cbe20e1a0942b47a95f8" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "8c388fe02c20f5a11b89a934d38a432efe86faa9c44662e15473c0e560840daa" }, "package_hash": { - "sha256": "f08050e1d39df97825ba9ce8dcef717fed323201700a4b20551eabc57869dda1" + "sha256": "0c512705eec35e3114f1a4ec3019971c963a12ae72f27caa398ad219ff33cab6" } } diff --git a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index dab8a184a39e9609c0b874ac9ddd05e32819ee39..60757245a9ca83f2b474eb56e93d942aee7a18b9 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:45", + "timestamp": "2026-11-03T23:35:02", "assets": [ { "asset": "r2000ic_240f.usda", diff --git a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0fa8145fdc3b5eaad2a47ccbb3ce8946cbfeed3b..a060de072926c3cdda26b5699c5e9b041cfdcc81 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:48", + "timestamp": "2026-11-03T23:35:04", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json index ad237b0a5d7e560d08bfe70220c6a4aa7dfec7ba..1b3eb1021cc99379909be961e458c44c11839c3b 100644 --- a/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_240f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_240f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_240f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_240f.usda.png", diff --git a/fanuc_r2000ic_240f/.metadata/r2000ic_240f_benchmark.json b/fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_benchmark.json similarity index 99% rename from fanuc_r2000ic_240f/.metadata/r2000ic_240f_benchmark.json rename to fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_benchmark.json index e0bfefc72e509b2da4d0aa63529bad737710e9e0..b73926747a8bd09b442786c10e795e486580b13b 100644 --- a/fanuc_r2000ic_240f/.metadata/r2000ic_240f_benchmark.json +++ b/fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_240f", + "asset": "fanuc_r2000ic_240f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_240f/.metadata/r2000ic_240f_validation.json b/fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_validation.json similarity index 97% rename from fanuc_r2000ic_240f/.metadata/r2000ic_240f_validation.json rename to fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_validation.json index f028a1c2d69d896ee3c9e45d24898070234d7407..96a546519592039265f1603f278c73537a9b980d 100644 --- a/fanuc_r2000ic_240f/.metadata/r2000ic_240f_validation.json +++ b/fanuc_r2000ic_240f/.metadata/fanuc_r2000ic_240f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json index bcc78e622e2c2c4edeaba1e89280cafba0f30f76..8afc810a63a84fe1cf53df1b3d15eff02560b6b2 100644 --- a/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_240f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_240f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_240f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "66b07c462778a1a8ade6f2e8ec2496816e31e9d7d9c7292d4c07cbfc4c27005d" + "sha256": "31779cda7c8414ee88545ca62a47775dc1391e4a4d3a62767f844a34b393fafa" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1babc1fb12c38c10b72323cf8115ba0e9553b839e4952f4d0b78613e24603a38" + "sha256": "bbf3ee3906620322444993ed8f7983787281b469bdd56857decf5a4fd486291f" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_240f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "058ddfeb29e63bd39dc3d1267a0353723e330ff39d336be3cd68754c59fa39e6" } }, { - "name": "r2000ic_240f_benchmark.json", + "name": "fanuc_r2000ic_240f_validation.json", "hash": { - "sha256": "68f5d8507c786368ca9ba769eb09bf26f18914f828cbece9943623d31b1a0ae3" + "sha256": "10b6489028b80303c3409fd0eb5dc407155309109f4697e2820def749791def5" } }, { - "name": "r2000ic_240f_validation.json", + "name": "license.txt", "hash": { - "sha256": "e21c693915ef60df2c7f2fb663a15035a13ad63605c324d96a0f2f8dbd99a730" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "7307702f6de0ccc12257a869cc031df0736355d914e18dc986c217cb5d531d55" }, "package_hash": { - "sha256": "3d3d653282f0f42fa3a324c876d6748093b84d958b1b98f27794899a3d503b79" + "sha256": "486622cdbcbe8d0d55abb9427752955489f81f71e201a188a4cdec1a4c2b2bb5" } } diff --git a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index cad3cfb625caca88f2519c93c73e0ecc59ef6c7d..dd104974506dd5ea6182c776961d530d70ec28c4 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:49", + "timestamp": "2026-11-03T23:35:05", "assets": [ { "asset": "r2000ic_270f.usda", diff --git a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index cfcc3ec3b019c3092db41f446dfb532e37757f27..8735196cca320529f568a60a7e4240e95e361fa0 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:52", + "timestamp": "2026-11-03T23:35:07", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json index 7bb352e12bd45703cc7a24421325a36c08ec6ef3..af83855c54b1921d9d5dd3c359c813e4be91baf6 100644 --- a/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_270f/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_270f/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_270f/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_270f.usda.png", diff --git a/fanuc_r2000ic_270f/.metadata/r2000ic_270f_benchmark.json b/fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_benchmark.json similarity index 99% rename from fanuc_r2000ic_270f/.metadata/r2000ic_270f_benchmark.json rename to fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_benchmark.json index afb54e694085638e9d95e2fdbf4101f46eeb33a6..f4ad44e7a1f0af1d6c9b73b7b2692854bc4b7bcd 100644 --- a/fanuc_r2000ic_270f/.metadata/r2000ic_270f_benchmark.json +++ b/fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_270f", + "asset": "fanuc_r2000ic_270f", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_270f/.metadata/r2000ic_270f_validation.json b/fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_validation.json similarity index 97% rename from fanuc_r2000ic_270f/.metadata/r2000ic_270f_validation.json rename to fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_validation.json index 7281b64ece5df885070a9ab65d6926545ddd6dde..44468c1df7650b2b5ef811bbd268c7fff1d0bdef 100644 --- a/fanuc_r2000ic_270f/.metadata/r2000ic_270f_validation.json +++ b/fanuc_r2000ic_270f/.metadata/fanuc_r2000ic_270f_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json b/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json index ae2167198ce28280ac743921c214d9922f8bc7d6..d030c1bfb8be86b8a5ec2fe012feeb970742c220 100644 --- a/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_270f/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270f.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270f.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d8a043eba1f4794d26c24e6e9200aeddedca4a95e959c5464a8b59fcb6104419" + "sha256": "6df4263a6c4a5334104b8b5001016dc9dcd04c768ab304b621694c0d1011216a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "1e5144aa809aca62306695bfae2e358610f9bf69d5ef7821d69806ddd2607b12" + "sha256": "87fbf648795e53301dbaa1a860ef13a17d9d934a914b6df71cb14014e12b95ec" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_270f_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "c514329b4fe26c370d78a9afce8c075ebf2fd588077f99f6660d347fb718eed0" } }, { - "name": "r2000ic_270f_benchmark.json", + "name": "fanuc_r2000ic_270f_validation.json", "hash": { - "sha256": "3294e78009fb54b4563fba77cefe9eb90db1c0ccf6e5390d365d0eb5e78d8091" + "sha256": "a95a4fd95ddae2dd1cc77c38df87094d109f326ad72c2454f5ca25bad2c6dfb1" } }, { - "name": "r2000ic_270f_validation.json", + "name": "license.txt", "hash": { - "sha256": "ecee4613b53d9784c6644a6b77b53dcc60d2a54bbbd0004a7fb4e509835a805b" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "88794a142161ab2cc6b890fee7099062966e56f042a015dd3c3c09ceda6c9479" }, "package_hash": { - "sha256": "b97addc72f8c92462ead489a4bf4a9c3eafb1092ab91151e9fa7eccc1a4a878b" + "sha256": "4062286eff429b7b7d9c82cd62bdc71da8fa1acd3ebd6198f3870ab22d85f67f" } } diff --git a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 09fd6aa9d7ccc20d583533347bda9ee35189f735..2b9f429deb6740d8f80cdb1f71c766493987c0ed 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:53", + "timestamp": "2026-11-03T23:35:08", "assets": [ { "asset": "r2000ic_270r.usda", diff --git a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4c440e9887d85a75ca518f543a1cd5eb31c96ff3..deee7b93aac5eeccbf5e8d5cd4b450186cdd9d6f 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:56", + "timestamp": "2026-11-03T23:35:10", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json index 2a982ab4d197d61cc1121d140591b9c0f7c701b6..09223cb1eee8c90fe8ae6c63fa6a775284f9aa3f 100644 --- a/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000ic_270r/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000ic_270r/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000ic_270r/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000ic_270r.usda.png", diff --git a/fanuc_r2000ic_270r/.metadata/r2000ic_270r_benchmark.json b/fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_benchmark.json similarity index 99% rename from fanuc_r2000ic_270r/.metadata/r2000ic_270r_benchmark.json rename to fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_benchmark.json index fdd81976dad79f482d137aed30f61a5fc3384930..abd41424d1523591299c7ed6a46969e145cdc531 100644 --- a/fanuc_r2000ic_270r/.metadata/r2000ic_270r_benchmark.json +++ b/fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000ic_270r", + "asset": "fanuc_r2000ic_270r", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000ic_270r/.metadata/r2000ic_270r_validation.json b/fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_validation.json similarity index 97% rename from fanuc_r2000ic_270r/.metadata/r2000ic_270r_validation.json rename to fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_validation.json index 6334be07dda836feeeceecd3ab28cd353a3bb34a..e82cf9b40ab0247becdf3a4269d7f43608d40056 100644 --- a/fanuc_r2000ic_270r/.metadata/r2000ic_270r_validation.json +++ b/fanuc_r2000ic_270r/.metadata/fanuc_r2000ic_270r_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json b/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json index bd189dd0dfad5456f801d33cdc53029add4c3796..8160f0365172fc1d7057d4266dee934dd4dc48a9 100644 --- a/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json +++ b/fanuc_r2000ic_270r/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270r.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000ic_270r.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9efff4fef0442eeca647d7c1aa51fc468cb2470fb79043f26ca461115bc7a25e" + "sha256": "4184b710b273e06eba02e606faffc4e3fefc58e64bae52a0a39e7263acc0de86" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "c8eb354f52b1b1d91eae8a698dc7183e8d59ea6cc78ce09c3004432f0403a267" + "sha256": "756e30aeda17a8a07ce93e83e3836942b8f1aefdb521324405bf319c4b38a383" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000ic_270r_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "2049419e208f1efd83fd3f07a077dbbae50031bf9e7f519871e8f54a73c245e1" } }, { - "name": "r2000ic_270r_benchmark.json", + "name": "fanuc_r2000ic_270r_validation.json", "hash": { - "sha256": "f654022127db29203ed6112d187bddba757445cb9b2034c190207e6a3b696e51" + "sha256": "f3cb1ee65a1e76e2e81b22292464947c328f27f90366828f68431376a0d7ffc5" } }, { - "name": "r2000ic_270r_validation.json", + "name": "license.txt", "hash": { - "sha256": "50d4df78d662324ccca0ad60d14b7b58f66c4deb726d81e33124d6075da23e06" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "1b0ce086b321ae75254a7807a6c07cf930c068dd22ba773538c417932cf6cb75" }, "package_hash": { - "sha256": "19dd5cd647c732d821dce4d08b70b3eff37bae45280586f8da2d7582c5b6379a" + "sha256": "eb2efa2c5f4fc1f68f7f360cf80db2c31fa5fe8f1ce91d851fbbf49808e3b666" } } diff --git a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 336cb24371f932b49e1ae88a3f390643b897ec56..135ff2c5ca84bb8566bac1023870386adbe6fac5 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:24:57", + "timestamp": "2026-11-03T23:35:11", "assets": [ { "asset": "r2000id_100fh.usda", diff --git a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 6a80d9058b41db01032f4e334f62d6cb938757f1..a5348a3b7459c3ec9193ba7d98a98c030c4ab865 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:24:59", + "timestamp": "2026-11-03T23:35:13", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json index 6b9b251f0a2d0b2bd737b9368d57d3c9e2b90538..ad1500c34cf7764f0536508eb918ca0edf052f45 100644 --- a/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_100fh/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000id_100fh/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000id_100fh/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000id_100fh.usda.png", diff --git a/fanuc_r2000id_100fh/.metadata/r2000id_100fh_benchmark.json b/fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_benchmark.json similarity index 99% rename from fanuc_r2000id_100fh/.metadata/r2000id_100fh_benchmark.json rename to fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_benchmark.json index 1080a3cb98ef4c310a23d7f0119c678d2518d61a..2137e1679a0f2d380a5c37ab261e2d7c576b754e 100644 --- a/fanuc_r2000id_100fh/.metadata/r2000id_100fh_benchmark.json +++ b/fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000id_100fh", + "asset": "fanuc_r2000id_100fh", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000id_100fh/.metadata/r2000id_100fh_validation.json b/fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_validation.json similarity index 97% rename from fanuc_r2000id_100fh/.metadata/r2000id_100fh_validation.json rename to fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_validation.json index b6410d5ac357a9a2809cf6b97e5d95adffd2c9d8..7eabfec783f9980eaf5a374043987521f4a5d307 100644 --- a/fanuc_r2000id_100fh/.metadata/r2000id_100fh_validation.json +++ b/fanuc_r2000id_100fh/.metadata/fanuc_r2000id_100fh_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json index 9222e368826a457fd525124e0bf2c04d2b7e6583..fc3acd87f9e1a8453eb6be502eafac79273c465d 100644 --- a/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_100fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_100fh.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_100fh.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "9c6f2af6e81590e8cb007297c5b457c9130a9db0dff7742eece1bbb308486162" + "sha256": "d4657a8985caadef3e8b2c75dcd8709fc3c1aaa844554ce1ac6e63ea19e046ee" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "94ff11295a2dc7ce1d590fa46969f18a88a04b44e4ec0d9cfbc84dbad7b664b8" + "sha256": "9a00eb0c7e04bf30213c946650d9bd5ea7b1f54cf6cb41d943ece1993636c694" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000id_100fh_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "78b86e56bcacb4d05f1b651b93b45eb9cb7ceb1fea22caefac852bf339ef571f" } }, { - "name": "r2000id_100fh_benchmark.json", + "name": "fanuc_r2000id_100fh_validation.json", "hash": { - "sha256": "d453fec9ef127ba79d828674e66b43e98f77ff242509abb5819e869669fe4628" + "sha256": "e51efc6a61b19766b2929c59abee5c9f90ce5910ecd2a5c42f2479ac967a7334" } }, { - "name": "r2000id_100fh_validation.json", + "name": "license.txt", "hash": { - "sha256": "e8d59d581a90d05a83727ee68217116f2d8898faf4fd95e76325ddabc42f9ccd" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "e75b1d56df2d55cba85419588e7c955c16b4064839b661d7054d72c26e9f4a7c" }, "package_hash": { - "sha256": "637dab247d3e20e37c59c6c6a777446a070589fa3f321d6084d29677d8133c1a" + "sha256": "008ef3a8d53b192342099600746beb06cccc3480fcf36a474c172ad6d9cd74b8" } } diff --git a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b60796b24056d90b04a724ae4e301bb5d70938db..1c11b088b63e534292ed6ea8e38298cc6cb0728d 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:00", + "timestamp": "2026-11-03T23:35:14", "assets": [ { "asset": "r2000id_165fh.usda", diff --git a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 53ea6bc056a6a223a2f963dc79bfbd4cea99a1fc..675be05375a6430a3d54e51f7dc72ccceae93892 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:03", + "timestamp": "2026-11-03T23:35:16", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json index b023663e37368f16bf6e302758c947ab67568c54..99cde325f4e26a3b1941ea23cf8ddeade775c15c 100644 --- a/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_165fh/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000id_165fh/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000id_165fh/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000id_165fh.usda.png", diff --git a/fanuc_r2000id_165fh/.metadata/r2000id_165fh_benchmark.json b/fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_benchmark.json similarity index 99% rename from fanuc_r2000id_165fh/.metadata/r2000id_165fh_benchmark.json rename to fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_benchmark.json index f257c4d5dd6c54faed4ad0101a3859f4c825f163..8bf39227a197847ffb5521d97a2f3a7bedb3a6ba 100644 --- a/fanuc_r2000id_165fh/.metadata/r2000id_165fh_benchmark.json +++ b/fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000id_165fh", + "asset": "fanuc_r2000id_165fh", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000id_165fh/.metadata/r2000id_165fh_validation.json b/fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_validation.json similarity index 97% rename from fanuc_r2000id_165fh/.metadata/r2000id_165fh_validation.json rename to fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_validation.json index 5d089e64a7b1ce65fa4957d20be24a50c37cbabe..f9c3ee138efd662d07fbdadd24414a833a636181 100644 --- a/fanuc_r2000id_165fh/.metadata/r2000id_165fh_validation.json +++ b/fanuc_r2000id_165fh/.metadata/fanuc_r2000id_165fh_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json index 6c4f3ef748dc35d4037950d32d1f6ba20f3b6be7..c9cbb99395e5d7cbed4d51579ba3da419b866837 100644 --- a/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_165fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_165fh.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_165fh.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "b56ccd97ad87a97a458c27ac2ef9d902b4f2cf4fbec07dc0c697c71b5b5cbf37" + "sha256": "a9a8287dc92c61f9b98fd1191aa0f4cbff1635809b6e1418d28acd01b39c8e05" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f14953d2d469016ea54c94830c89caa008f10441823985c622b4c5e834915fd2" + "sha256": "4ff245918bc4fbc6cb146b415d1ac577c1fee18b132c37102beff8fb547a48a3" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000id_165fh_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "3fc9528774ae16680111115da2ff5577a08c934eb8ae182a9c6b2e2049e6636f" } }, { - "name": "r2000id_165fh_benchmark.json", + "name": "fanuc_r2000id_165fh_validation.json", "hash": { - "sha256": "324b40d56cd6e821488dfeef007a8de45fca2a27d12e70845ffddf9bb7e69152" + "sha256": "d9f23adcd8c253c8f5c3e99685fec3fce59f3dfe3dd8d21f3546f1aa01a9000f" } }, { - "name": "r2000id_165fh_validation.json", + "name": "license.txt", "hash": { - "sha256": "3747b603b01b6a116efbff92ef9098de24efab7350f42fc349e666a2383b9f1a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "bfe83210413aaf1002c71040ddb67022e2dda763af9530d986a36dbc38fcb6f6" }, "package_hash": { - "sha256": "88fecf19d8ee3a344cffa76be7e7c9384d538729a0b88a66210a6511d346fb61" + "sha256": "c7ce310cf9b2bc46bd62e376042dbe0807669be9e7c9a09f54359a23a96fcd75" } } diff --git a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 8eead74436969df8a26fd47382ad1a79a8c55d2b..f50b61672ecc164d3dad94e2b306dafc703198ab 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:04", + "timestamp": "2026-11-03T23:35:17", "assets": [ { "asset": "r2000id_210fh.usda", diff --git a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index d10be6de16c7ccbb1c39797abe14a003dd0f0206..f89e32871e01e286515b25d9597e78030bdb2d08 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:07", + "timestamp": "2026-11-03T23:35:20", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json index 7ad3ea2fe24d7deb4a19797b6d6fd3f4e792e5a1..c7604879b9a8576563d098a7b445ceb295d62ea0 100644 --- a/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_r2000id_210fh/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_r2000id_210fh/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_r2000id_210fh/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/r2000id_210fh.usda.png", diff --git a/fanuc_r2000id_210fh/.metadata/r2000id_210fh_benchmark.json b/fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_benchmark.json similarity index 99% rename from fanuc_r2000id_210fh/.metadata/r2000id_210fh_benchmark.json rename to fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_benchmark.json index 2598d0b0fc952261e0ab31d1875a66f3c9467aff..b3d69c71c405f5f7cee43b8709a5de7362c6d707 100644 --- a/fanuc_r2000id_210fh/.metadata/r2000id_210fh_benchmark.json +++ b/fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "r2000id_210fh", + "asset": "fanuc_r2000id_210fh", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_r2000id_210fh/.metadata/r2000id_210fh_validation.json b/fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_validation.json similarity index 97% rename from fanuc_r2000id_210fh/.metadata/r2000id_210fh_validation.json rename to fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_validation.json index 4aad3e24a7e45ed5cd9be99de69745f2bd6252d2..7678b05c026d3668a8d3dc65a30a872f5616b72c 100644 --- a/fanuc_r2000id_210fh/.metadata/r2000id_210fh_validation.json +++ b/fanuc_r2000id_210fh/.metadata/fanuc_r2000id_210fh_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json b/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json index 949b1365639cb408ef9324459855060ffbd7ab10..0c705e93625162b132d511761c3d132d1ba52ac4 100644 --- a/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json +++ b/fanuc_r2000id_210fh/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_210fh.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_r2000id_210fh.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "fe524b32d46da841a3247cb96496b6548af2f7be17957f0706a36112202a3e18" + "sha256": "eb94144f5a3a845e12a7263151cfe0bfd40394fdb3602ba47cb975e357c088ea" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2e8ee59d4f5f7468d5512ff07be80357948722dfa84f3ac7ab35a9dfb11f60da" + "sha256": "693ab6b53594e41f666cf4ff0b0a72cd0036a9bb6c1f8b6bfd3d6be71cd3d00a" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_r2000id_210fh_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "357d28805908292a24eabfa87c1b417363b8578d0e4f87a587bb041716a29c15" } }, { - "name": "r2000id_210fh_benchmark.json", + "name": "fanuc_r2000id_210fh_validation.json", "hash": { - "sha256": "9a1242bbf7cedf336b184494c34f556b73b9269e7ca642ff26d027aa007097dd" + "sha256": "f6a8f0994155ba951fe10237a0f3c304ca494ffa1445936490d1c1e75faf78b8" } }, { - "name": "r2000id_210fh_validation.json", + "name": "license.txt", "hash": { - "sha256": "440f68811504e04a7dc6c4b08979aa870e853081aca0d7a3bc504240957fb49a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "c62fe9f9c5ba16c0678b84a55d42b9db642f85b99d4321501d9d171a424413c6" }, "package_hash": { - "sha256": "64aaab2021efcbfd1e440452baebba8da767aeed575dda4ff83684b6320e0b4c" + "sha256": "51769c9cb758cbab0c922a71326de32cc3cfad70ae684875146d921e9c3ed46b" } } diff --git a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 9e5ab11f1236655f328340b9ae944b6f8afb68ef..39b010785f3b0ef055b6796e506960fb930f159a 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:08", + "timestamp": "2026-11-03T23:35:21", "assets": [ { "asset": "sr12ia.usda", diff --git a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index a4bddbc3690f32ba5f4624ddceb22fd6fab06461..da887caf48918305a46af5af6f02c5c11dc952ac 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr12ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:10", + "timestamp": "2026-11-03T23:35:23", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json index dec11e24cf97436a44389715394d3aa23651ff5f..f6b8aeb3afec71d3fed7af1e9a599a282adb8b06 100644 --- a/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr12ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr12ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr12ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr12ia.usda.png", diff --git a/fanuc_sr12ia/.metadata/sr12ia_benchmark.json b/fanuc_sr12ia/.metadata/fanuc_sr12ia_benchmark.json similarity index 99% rename from fanuc_sr12ia/.metadata/sr12ia_benchmark.json rename to fanuc_sr12ia/.metadata/fanuc_sr12ia_benchmark.json index dd7590cc95e1d6df47114d1171181ffc0f86fd8c..fb8327fd35b30ed16b8a9f3029fa227bce1ba7e3 100644 --- a/fanuc_sr12ia/.metadata/sr12ia_benchmark.json +++ b/fanuc_sr12ia/.metadata/fanuc_sr12ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr12ia", + "asset": "fanuc_sr12ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr12ia/.metadata/sr12ia_validation.json b/fanuc_sr12ia/.metadata/fanuc_sr12ia_validation.json similarity index 97% rename from fanuc_sr12ia/.metadata/sr12ia_validation.json rename to fanuc_sr12ia/.metadata/fanuc_sr12ia_validation.json index 519db66df27eb32ddbac1ffae57e64129c907f0c..c38a0cf644c6e3946b62dded654c536499d84b3f 100644 --- a/fanuc_sr12ia/.metadata/sr12ia_validation.json +++ b/fanuc_sr12ia/.metadata/fanuc_sr12ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr12ia/com.nvidia.simready.packaging.json b/fanuc_sr12ia/com.nvidia.simready.packaging.json index 80575ce5b3b7d2516f4e921c8bb7f00677d6083d..251e4e115efe24e7ffbfcefe3a9610f7974ef35f 100644 --- a/fanuc_sr12ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr12ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "5f438fb923a3e0abad45ff09521dd565dce72392f2a3d37705416410cdf062bb" + "sha256": "e63c1e4c7cf40f375e897a0b1e70a0c20e63dbed2a4b1fc2fb49e8341297fb22" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6518c7bc451d9c3cc311037249c0608a1b2f319df0c6ee7837b68ae202d36239" + "sha256": "b29edefc19d51527322d9cfc7c49380d0b88d37e249bae9a597e6fdb5a94d25a" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr12ia_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d2b51db0110a0bda8f81eb1aee1d7e0e1ea1031b3802be8eb34d4aec851bfd5e" } }, { - "name": "sr12ia_benchmark.json", + "name": "fanuc_sr12ia_validation.json", "hash": { - "sha256": "f5fe6b7829fb6aec4a8cab617f3720b9fb952237c4e6298ca315ac7699474b29" + "sha256": "9e12af999d36d9cf756de9cbb9ca98e60fa52aa4735ebb6199ba79aae16e406c" } }, { - "name": "sr12ia_validation.json", + "name": "license.txt", "hash": { - "sha256": "bd399296ee1c1c7501ac84706f7defc02067e1211b698ecd4ba059501adb4c12" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "140e639700d24c666a31abbd2c36fe1feb26513cdb9a8079364be61ec2c3a780" }, "package_hash": { - "sha256": "0e0685bd45ab89708e66ab757e6aa9f25d8d9f3b66c0aba4d3443c337012824f" + "sha256": "4bdcb9edead241db8d82572586b184f764afaa41f43e0b7d581a2f435ba3b33c" } } diff --git a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e2943e89cb78d052a99e1494d961a91670d0aef1..c98a7935d61c7f0ba7df4ec0e96efab6b0dc8f8f 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:12", + "timestamp": "2026-11-03T23:35:24", "assets": [ { "asset": "sr12iac.usda", diff --git a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index b893b263679512b773728d18e8c56884c68109aa..da0f06cd3ce94612ff5c74f0def164446c12a8ca 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr12iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:14", + "timestamp": "2026-11-03T23:35:26", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json index 66bc07639d40f30f2f2c06610e1411c895b30f27..44d29f5b7cff80c848f26e5d5c297232a59c658e 100644 --- a/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr12iac/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr12iac/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr12iac/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr12iac.usda.png", diff --git a/fanuc_sr12iac/.metadata/sr12iac_benchmark.json b/fanuc_sr12iac/.metadata/fanuc_sr12iac_benchmark.json similarity index 99% rename from fanuc_sr12iac/.metadata/sr12iac_benchmark.json rename to fanuc_sr12iac/.metadata/fanuc_sr12iac_benchmark.json index 652d401f696ddbcd675e4dc875291a0bed930408..1b314c73c889bf586a2fec38fea53179bc6b2c36 100644 --- a/fanuc_sr12iac/.metadata/sr12iac_benchmark.json +++ b/fanuc_sr12iac/.metadata/fanuc_sr12iac_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr12iac", + "asset": "fanuc_sr12iac", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr12iac/.metadata/sr12iac_validation.json b/fanuc_sr12iac/.metadata/fanuc_sr12iac_validation.json similarity index 97% rename from fanuc_sr12iac/.metadata/sr12iac_validation.json rename to fanuc_sr12iac/.metadata/fanuc_sr12iac_validation.json index 6c701f225aaf95c1f785faaca3e0a711c7cd4d54..1a52ef36f958fde429a35deb0b80fe165d63164a 100644 --- a/fanuc_sr12iac/.metadata/sr12iac_validation.json +++ b/fanuc_sr12iac/.metadata/fanuc_sr12iac_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr12iac/com.nvidia.simready.packaging.json b/fanuc_sr12iac/com.nvidia.simready.packaging.json index 662750006723c78ba5ce3b20da32d072e8118145..9884bfc0d65da26f80c8aac03a76c9be382666ae 100644 --- a/fanuc_sr12iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr12iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12iac.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr12iac.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6582376f705364f113696663f63a26b27b3d51896380aab86735303e42fa6c6c" + "sha256": "7bcb39112fe3cdb485fd331f21cd4d6e731098aed9ec624bd7f719b2c76db8a1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "cc0819bb6230587c02fc1fc7cb3b6db06e8988b9189e880b540a8dd19fb619b0" + "sha256": "051c3a4b6b51f21c954f91459b034b107bcd65fcd3ff07c956dc1f9093068822" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr12iac_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "bcfa86e44d43ef745d3f37fdc64289da0f511a234e8472ee111a141b7dfdacda" } }, { - "name": "sr12iac_benchmark.json", + "name": "fanuc_sr12iac_validation.json", "hash": { - "sha256": "50c889dc710d47e11fa63e712f2876fddce468a27459a0618dc2b035dc226851" + "sha256": "8f66835da011cd043684627b3d2a54e8e87ff530624ba55d25ee12bc2adcb359" } }, { - "name": "sr12iac_validation.json", + "name": "license.txt", "hash": { - "sha256": "c285788a4c50fe0b09c0f6ea14f3adc59c887233838021664b72a6b2b2b6fb57" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "8f658482dd907509f89de0e1fa4172e9f702c9da47d106a1010f18a1b63cc106" }, "package_hash": { - "sha256": "f5edc3b206092b16298532e1660f8320a0998f93ad50d7a755767a1dbd86b44e" + "sha256": "042fcf760caf3e99338dae1b09fa3b1ecfaa5b6a60fe0de6ba6f6bd34150a009" } } diff --git a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7e1e8412895ecb3c338f65e7285831e8e7ada1c8..a5d8e954dd8481c028f8dd7f684a70a970b47090 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:15", + "timestamp": "2026-11-03T23:35:27", "assets": [ { "asset": "sr20ia.usda", diff --git a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 77862e34e9a3d03fba446f32bdb03deed7a94dc3..9de65f51605906b51e73cf4a549577848e8349ef 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr20ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:18", + "timestamp": "2026-11-03T23:35:29", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json index a2f087dfe25048677a85fff4e84423c130d8fa38..74d7b93837f4d775234c91ab99b1951189dd24ea 100644 --- a/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr20ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr20ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr20ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr20ia.usda.png", diff --git a/fanuc_sr20ia/.metadata/sr20ia_benchmark.json b/fanuc_sr20ia/.metadata/fanuc_sr20ia_benchmark.json similarity index 99% rename from fanuc_sr20ia/.metadata/sr20ia_benchmark.json rename to fanuc_sr20ia/.metadata/fanuc_sr20ia_benchmark.json index 7a297cc3e1f4f89a52278d2d6b44802d343b6d67..731ef4f7a1b3685bf89e530d24ed4951e588d634 100644 --- a/fanuc_sr20ia/.metadata/sr20ia_benchmark.json +++ b/fanuc_sr20ia/.metadata/fanuc_sr20ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr20ia", + "asset": "fanuc_sr20ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr20ia/.metadata/sr20ia_validation.json b/fanuc_sr20ia/.metadata/fanuc_sr20ia_validation.json similarity index 97% rename from fanuc_sr20ia/.metadata/sr20ia_validation.json rename to fanuc_sr20ia/.metadata/fanuc_sr20ia_validation.json index eca8df9c4addab5d60c612ef51e7d2e85f62d9b5..7e970e7b541aaa7bbbb49c78941ac35064220d8c 100644 --- a/fanuc_sr20ia/.metadata/sr20ia_validation.json +++ b/fanuc_sr20ia/.metadata/fanuc_sr20ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr20ia/com.nvidia.simready.packaging.json b/fanuc_sr20ia/com.nvidia.simready.packaging.json index 717c5e8b08fcb5d767d08179b6a104b11e8925d6..248b7acec84556238eb084bc5c395d6dc120efa3 100644 --- a/fanuc_sr20ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr20ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr20ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr20ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "da0b0c7a8bd834e12c4bf00b0b2efd14eb877572cdea6895207323fdbeaffb06" + "sha256": "52527f68abd11f178d9590abe2a312242676cc9be22642e6aa5745744acc24ee" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e750177256d65b9e1f5251e3d05f40f358b8f33804a94f90bf3e7f1f806db6e0" + "sha256": "3f716cc7199e10bf7ec842005bf455962df3a83a210965edc88a0c80e8786e23" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr20ia_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "fc6c3422f50b0ce2ca95258d8fdb5ebf653e0add768fbc821e0a057cd5870d35" } }, { - "name": "sr20ia_benchmark.json", + "name": "fanuc_sr20ia_validation.json", "hash": { - "sha256": "84b74a7bf54ae9db7d50b156f975c0e188bb9181fa4b55e0ea4ddfb7848f8851" + "sha256": "d9f7f3b0865e706a5ce66f7d21208d9e6e6b3ad6e49c2d2682158c3f1149d903" } }, { - "name": "sr20ia_validation.json", + "name": "license.txt", "hash": { - "sha256": "93a5226ae3f42dc5d2dd773ab4b40295be31486dbd8a18127b42d18bf059bc12" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "07e7a2c5d8fe476a07508b19de49cd4772ebf95703512bff38e49409c7a043f9" }, "package_hash": { - "sha256": "74527ca720c5daa87b75c0bcf808862dbad94855596f89af86b733c0909541b8" + "sha256": "d1a6eedeb372c23b2d514a30cd58337e6ee21df1b05c6681cdd741477fba7c97" } } diff --git a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 97bc954488eb15c0158b9421c69f62a3d9403b8f..1c934f49a903119cf5874bae51ff0a8ccdbb833d 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:19", + "timestamp": "2026-11-03T23:35:30", "assets": [ { "asset": "sr3ia.usda", diff --git a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 48b706b036c9f15a32e89c3f47ec49bb52f3b96a..c644ad6c62a35ac75248b0b6d52c0584fc9c6fdd 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr3ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:21", + "timestamp": "2026-11-03T23:35:32", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json index 3b852f44b883739105035446346349b3e6d89139..b6a0b4c21078c46a628b144832451c856ad9aab1 100644 --- a/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr3ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr3ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr3ia.usda.png", diff --git a/fanuc_sr3ia/.metadata/sr3ia_benchmark.json b/fanuc_sr3ia/.metadata/fanuc_sr3ia_benchmark.json similarity index 99% rename from fanuc_sr3ia/.metadata/sr3ia_benchmark.json rename to fanuc_sr3ia/.metadata/fanuc_sr3ia_benchmark.json index b2b04d7ac9105764d3426a91d95587b6f41436b4..8da414942ae4d1be2346e3b6e769b19642de1b0c 100644 --- a/fanuc_sr3ia/.metadata/sr3ia_benchmark.json +++ b/fanuc_sr3ia/.metadata/fanuc_sr3ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr3ia", + "asset": "fanuc_sr3ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr3ia/.metadata/sr3ia_validation.json b/fanuc_sr3ia/.metadata/fanuc_sr3ia_validation.json similarity index 97% rename from fanuc_sr3ia/.metadata/sr3ia_validation.json rename to fanuc_sr3ia/.metadata/fanuc_sr3ia_validation.json index 0c16a5cd641ee418ea62218cd7cdfda4056b2730..3b65c490b0c5ea3a0d314c4907887c07c4b81cfd 100644 --- a/fanuc_sr3ia/.metadata/sr3ia_validation.json +++ b/fanuc_sr3ia/.metadata/fanuc_sr3ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr3ia/com.nvidia.simready.packaging.json b/fanuc_sr3ia/com.nvidia.simready.packaging.json index 826b01de010c005f7484219dda4177aacc3957e8..f8c20fbe139a4ee418a6d6df0f6e428905d44f08 100644 --- a/fanuc_sr3ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr3ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "65dc63b1fdb7599898a908500bda6003759ad00f3208d6b090fe66798a053d8b" + "sha256": "a11fd9ad7704450618b393938c8a405732762f9d29b9df1b590ecb178a892fa6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "6ee487dddbac57a7ebb4090d19ac6abea3851d9aa2fcca6e6afb5a0a943a738b" + "sha256": "88542a9be479694bf239c35260ed92975f92ce524fba5156484f08d3de7f709a" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr3ia_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "f0303a44aef36ed4c12300918c755fa219961a91776a184bd3b87e2c8272647a" } }, { - "name": "sr3ia_benchmark.json", + "name": "fanuc_sr3ia_validation.json", "hash": { - "sha256": "d02fa6b41db93d0931e9b4551e55f81a8dd27da51b991f3472448a129ee83b41" + "sha256": "f84a316f5a8e37ee56fa07d567ca6ad9550795baa9d134394b0d1377a82db446" } }, { - "name": "sr3ia_validation.json", + "name": "license.txt", "hash": { - "sha256": "3c7d6a04c3c1880ae61619d9e925234b8abe83d7e4854fe143354ccac5ff481a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "37d318db2aeff45ef5197715821eae3a42f5de60706a6ac3cb7c36ba11577d56" }, "package_hash": { - "sha256": "fc23f698cb1ad6cff8ecbcde09f9db1f04e9e787f79cc941f479937682f29a62" + "sha256": "8b3f955e03206680f9030b861efc70df31271d8264de21aa501355a244728c55" } } diff --git a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4ab906ce74e9b4fdc6cf6ec2255f2f968c63cdaa..b577e3d231536bf47783e02e1a56320349fd5f7c 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:23", + "timestamp": "2026-11-03T23:35:33", "assets": [ { "asset": "sr3iac.usda", diff --git a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9a897cbb193de532b3a72aa415f4f55b9c3be4dd..13ba156373d88959cf412151d063b4d91a8dd9ce 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr3iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:25", + "timestamp": "2026-11-03T23:35:35", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json index 6f8d455b55def16c02e675d7be75483b69ffc39e..051c1ab547d5d5dff091110214ac8ced2f224aa0 100644 --- a/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3iac/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr3iac/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr3iac/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr3iac.usda.png", diff --git a/fanuc_sr3iac/.metadata/sr3iac_benchmark.json b/fanuc_sr3iac/.metadata/fanuc_sr3iac_benchmark.json similarity index 99% rename from fanuc_sr3iac/.metadata/sr3iac_benchmark.json rename to fanuc_sr3iac/.metadata/fanuc_sr3iac_benchmark.json index 4c8651ea753f41e196f4f616392a4851010c4fe9..578c0fe982515a55c9b75f5ade213c61437c4ef5 100644 --- a/fanuc_sr3iac/.metadata/sr3iac_benchmark.json +++ b/fanuc_sr3iac/.metadata/fanuc_sr3iac_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr3iac", + "asset": "fanuc_sr3iac", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr3iac/.metadata/sr3iac_validation.json b/fanuc_sr3iac/.metadata/fanuc_sr3iac_validation.json similarity index 97% rename from fanuc_sr3iac/.metadata/sr3iac_validation.json rename to fanuc_sr3iac/.metadata/fanuc_sr3iac_validation.json index cac274d3eaac88eb9a5b88e068a7b84a62347a9d..ab34ec35353e53ab688a4322de014cfc431336dc 100644 --- a/fanuc_sr3iac/.metadata/sr3iac_validation.json +++ b/fanuc_sr3iac/.metadata/fanuc_sr3iac_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr3iac/com.nvidia.simready.packaging.json b/fanuc_sr3iac/com.nvidia.simready.packaging.json index 587a8f6292c57422951c600c5b26bbbf4c6fa8bc..e8661237f76a98760648b0b2ff64f215bc963a7d 100644 --- a/fanuc_sr3iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr3iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iac.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iac.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4579b7b3c77a7fedfb09e538c93806446af1f76b8e506de0b99331cf1c56e213" + "sha256": "7d00e524fc5ae6554719b966853760c3191d31ae1fef0202dbc446d6fdc98caf" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "824ba0304e48c81bfdc2654a8257b4f93dfa23c4eb32a0e8b9ede9dca4abbaa6" + "sha256": "eaa8550259fe3efbfc5838a7c6a5ce32a377217873c6f3a71a8beae5daebdd48" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr3iac_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "dfc9f3371c3e5353694226b19ed736951da3fb55190d253a234143f5b676c620" } }, { - "name": "sr3iac_benchmark.json", + "name": "fanuc_sr3iac_validation.json", "hash": { - "sha256": "7753e0a4d79203d89e858202ee2e5d8648e400a31b307b4981836c4ee19e2d6c" + "sha256": "08ab96dd8e5f63c694c9292e20aa7173fd852fb965e3136a3c5ee97984e312c0" } }, { - "name": "sr3iac_validation.json", + "name": "license.txt", "hash": { - "sha256": "8a9d5d2d571e74a025d9f011e995a583eb389794988fa3cce3efd6a7fb8dd391" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "506ef16a0c0a6a9070b0377a4ef68d3ff8fbc2c698de60bbec13165e8a485276" }, "package_hash": { - "sha256": "263efa6a118436a318b87922e44461a44a2b5df3f6c8023e86c306670fdd906d" + "sha256": "7ccc9b31fc3931147f43b7bdeb11da5e4afdc41183a9f2477c936369085cb580" } } diff --git a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e56a89cca39d8355e94f4fdaeca67eaf8896af86..21d1bf878e761e0a048802592c7db91215117f66 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:26", + "timestamp": "2026-11-03T23:35:36", "assets": [ { "asset": "sr3iau.usda", diff --git a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 14755123923f1a23b197f28ffd783bafe1c14e8f..c36795bee0e69f46b4db2bb32cd584a5d2171eb8 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr3iau/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:29", + "timestamp": "2026-11-03T23:35:38", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json index 012490f2bf676cc2d11d28a3caabc14c7499fbc4..177f96659d0b8b91ca2f55a5c82d79f79eb4eef0 100644 --- a/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr3iau/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr3iau/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr3iau/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr3iau.usda.png", diff --git a/fanuc_sr3iau/.metadata/sr3iau_benchmark.json b/fanuc_sr3iau/.metadata/fanuc_sr3iau_benchmark.json similarity index 99% rename from fanuc_sr3iau/.metadata/sr3iau_benchmark.json rename to fanuc_sr3iau/.metadata/fanuc_sr3iau_benchmark.json index 085303e684ba37dc4cce75494d8433ce6bfe6c0b..a680697f8ddce8c16cf76ae97abb1583fc91c8dd 100644 --- a/fanuc_sr3iau/.metadata/sr3iau_benchmark.json +++ b/fanuc_sr3iau/.metadata/fanuc_sr3iau_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr3iau", + "asset": "fanuc_sr3iau", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr3iau/.metadata/sr3iau_validation.json b/fanuc_sr3iau/.metadata/fanuc_sr3iau_validation.json similarity index 97% rename from fanuc_sr3iau/.metadata/sr3iau_validation.json rename to fanuc_sr3iau/.metadata/fanuc_sr3iau_validation.json index 0a6ad82c8f34a7dd25e5aba53eefc713b4520b78..8edc8614d7e7a762bac1854c3de7adc95094649b 100644 --- a/fanuc_sr3iau/.metadata/sr3iau_validation.json +++ b/fanuc_sr3iau/.metadata/fanuc_sr3iau_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr3iau/com.nvidia.simready.packaging.json b/fanuc_sr3iau/com.nvidia.simready.packaging.json index 40c7964e0f6b704700b038694ea95ed43262a7f3..40f3a593e6b33b5dc139d8c001c3e902fd8b3982 100644 --- a/fanuc_sr3iau/com.nvidia.simready.packaging.json +++ b/fanuc_sr3iau/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iau.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr3iau.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ee4cfcd1610174292fd9b24abbbd8dcbddaebd8fc21b68b2ea40f2d2966b05de" + "sha256": "d385175a87c625c11b53f7c01583195ea9f173882ada76f21b1b191070076b6a" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "40cfdcf06888459a3bff2f1153fb161158b4538240e13ea83e885c1591515eed" + "sha256": "20d8871dea1225402ad57caf1d5290431964cfa1c9edb15d9a87dc7b74c6c962" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr3iau_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "7d2f8f8f4ab1edae1cf85e4b80f54c66d86a1150ec0ab257b77c14247188dcca" } }, { - "name": "sr3iau_benchmark.json", + "name": "fanuc_sr3iau_validation.json", "hash": { - "sha256": "85ae6b7de9b83418c14f7ae2f0e88cba101bf1972c63dffeba6c87d5c94bec05" + "sha256": "efc84aadc05595364276d0664af9176dfa1560eb982e703912e821c63a30d59c" } }, { - "name": "sr3iau_validation.json", + "name": "license.txt", "hash": { - "sha256": "94b81a4f018383dc82ea632e2b5f475a4e8138a78359b5ed976b4f4951c8c04e" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "be946ecefa38ddf40acef72dcb0122345a7a9d13ee4634c07b5e24849fd8cffb" }, "package_hash": { - "sha256": "af58ab49f0e1178a9b98fef8f3325a053f08e06c24e93cc7fda93a7ec5ca37a5" + "sha256": "17667a500d04e6fab251eb06d9b466e066343df3494fa12f37a0fe74ae602d11" } } diff --git a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6462c9247adeff79c893e510fdafefdfb32885ae..880bb6facab69faab0d268f750b9d5a74a60fe89 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:30", + "timestamp": "2026-11-03T23:35:39", "assets": [ { "asset": "sr6ia.usda", diff --git a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0cb10534a38f3bb64cb15551db588834225ff953..664868917a1344fd4830197b14a4405677e4b0a7 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr6ia/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:33", + "timestamp": "2026-11-03T23:35:40", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json index 953f3a07b16cd5e4decc3ad7fe662a659e81feee..d1f15d84c151b216490aba2c99f4d1a79427a726 100644 --- a/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr6ia/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr6ia/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr6ia/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr6ia.usda.png", diff --git a/fanuc_sr6ia/.metadata/sr6ia_benchmark.json b/fanuc_sr6ia/.metadata/fanuc_sr6ia_benchmark.json similarity index 99% rename from fanuc_sr6ia/.metadata/sr6ia_benchmark.json rename to fanuc_sr6ia/.metadata/fanuc_sr6ia_benchmark.json index 932ba324c58b3d968c1380798040e21fe7d2d254..dfb369258661f03ee4d7b95817bde92f42292b22 100644 --- a/fanuc_sr6ia/.metadata/sr6ia_benchmark.json +++ b/fanuc_sr6ia/.metadata/fanuc_sr6ia_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr6ia", + "asset": "fanuc_sr6ia", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr6ia/.metadata/sr6ia_validation.json b/fanuc_sr6ia/.metadata/fanuc_sr6ia_validation.json similarity index 97% rename from fanuc_sr6ia/.metadata/sr6ia_validation.json rename to fanuc_sr6ia/.metadata/fanuc_sr6ia_validation.json index d56134056703bbc212a59d15b3e92987231a0760..ae597323f153af7072b06a03661f80d5831ff997 100644 --- a/fanuc_sr6ia/.metadata/sr6ia_validation.json +++ b/fanuc_sr6ia/.metadata/fanuc_sr6ia_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr6ia/com.nvidia.simready.packaging.json b/fanuc_sr6ia/com.nvidia.simready.packaging.json index a52f9db446746877f142762c06fc8831e024d5ac..cd219c9ad376fe26536756cbad329c2034088392 100644 --- a/fanuc_sr6ia/com.nvidia.simready.packaging.json +++ b/fanuc_sr6ia/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6ia.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6ia.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3fd4eb64ee6eeefb26599cd6540a1edd848737046fb24abb0add9e727eb71528" + "sha256": "5b3d36aacfa930df90310e944b5867e99104b25dd33a1fff149280f1d18291d1" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "5b2a92801a0c85a132506cbe94df62969e91b044dd4bb42fe41de43312077389" + "sha256": "c82377216899a9f29fdbc4785565e111c0e5eae9e76393e1f1aac9d764e609d2" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr6ia_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "fde9ae3eb38be0d2b7e508908bb8f1957ed02bf962c40c57e116e05977cbf6e5" } }, { - "name": "sr6ia_benchmark.json", + "name": "fanuc_sr6ia_validation.json", "hash": { - "sha256": "b58d1d8df56e5a855dbc641c5addd1a4410de8f673cfbcaf10cb91aabd674404" + "sha256": "c52aa6788838e9c235bfeec17b427eb4e005bb2a62b2769c26318aa32a4fa935" } }, { - "name": "sr6ia_validation.json", + "name": "license.txt", "hash": { - "sha256": "ed204dec89e0ab92eff93d6d5af8751aaa7fc9923642aa7137e1dfa36dbc0731" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "266c2a67bed01f3d6b8130ca458ed87d61b5de7b76564c00d4ea07ab7e630a61" }, "package_hash": { - "sha256": "d4787597b6a196515fe41f1650a1fff069060184beb9aec59892147c3ff30f5a" + "sha256": "29dbddcfd999bc87346d663618b1fed718371c0386081d088296c4b901853e6f" } } diff --git a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index b7b0daf7e85d281fab9f919a137671118dd2b396..2ff813434cc24d1153e8a58c7e4f51c57d2052bf 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:34", + "timestamp": "2026-11-03T23:35:41", "assets": [ { "asset": "sr6iac.usda", diff --git a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 849298a32a5a4b25fe5a7c615749e0109d8965f3..4ab62af03d5e2a0ae8f8f4013613a9c48e676542 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr6iac/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:36", + "timestamp": "2026-11-03T23:35:43", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json index 06f1e7e8abba37e43438460723ee1a98eea392d2..777ec13274225b82eea04765efd4ad6024356cd7 100644 --- a/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr6iac/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr6iac/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr6iac/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr6iac.usda.png", diff --git a/fanuc_sr6iac/.metadata/sr6iac_benchmark.json b/fanuc_sr6iac/.metadata/fanuc_sr6iac_benchmark.json similarity index 99% rename from fanuc_sr6iac/.metadata/sr6iac_benchmark.json rename to fanuc_sr6iac/.metadata/fanuc_sr6iac_benchmark.json index f9abd95b2629fd4e81a23f5bb886d3bc58a29dd4..28e15afab52f10ce8b2d8430aabbbd29cdcf4645 100644 --- a/fanuc_sr6iac/.metadata/sr6iac_benchmark.json +++ b/fanuc_sr6iac/.metadata/fanuc_sr6iac_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr6iac", + "asset": "fanuc_sr6iac", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr6iac/.metadata/sr6iac_validation.json b/fanuc_sr6iac/.metadata/fanuc_sr6iac_validation.json similarity index 97% rename from fanuc_sr6iac/.metadata/sr6iac_validation.json rename to fanuc_sr6iac/.metadata/fanuc_sr6iac_validation.json index 6e103aa005965529f5df046d82a80fa6f7399754..dcc59ba39b6c0397dcc1c85af4aa06ee86b0e4fd 100644 --- a/fanuc_sr6iac/.metadata/sr6iac_validation.json +++ b/fanuc_sr6iac/.metadata/fanuc_sr6iac_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr6iac/com.nvidia.simready.packaging.json b/fanuc_sr6iac/com.nvidia.simready.packaging.json index fdde0720306a5a05ed9108c3905e28742b8cc515..9c78ff56629904d5cdf3911fd3a41cb4d18a42ff 100644 --- a/fanuc_sr6iac/com.nvidia.simready.packaging.json +++ b/fanuc_sr6iac/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6iac.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr6iac.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7a5c5d7f8e3a21aad5df809e05d8b3d3d4d7c950649667fadcfd3f8d3efc9624" + "sha256": "3bafa0c7c6a56401fe852c003e3c4229317afa18d7ba5b63a2426a0753c08604" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4d9feb8204a1a168bceb7761a6f22839521e56880366da50d8dd38ed27b8cc2b" + "sha256": "73135340fa6aaa0628e53e8c98733f4876dfb543e9f5e20e97d29f245f655948" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "fanuc_sr6iac_benchmark.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "b223175627af7367fa2e0e80193445e18a66ee9927a3af8172e03ec042c01e9b" } }, { - "name": "sr6iac_benchmark.json", + "name": "fanuc_sr6iac_validation.json", "hash": { - "sha256": "c31d1ddf664bf52abed2ebda17b2f9c8f8b5c331c482f4d0ec8505e515297304" + "sha256": "ab1ebe1880e164aac4cb20bf838e39177ee5ed1dd0c869f5254873776a7b976c" } }, { - "name": "sr6iac_validation.json", + "name": "license.txt", "hash": { - "sha256": "5bf842acbc8c10e19d09872b541439a4f579ac2889d2a500785b4dc0f06825fc" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } } ], @@ -44,6 +44,6 @@ "sha256": "a99e6bbd7df2347b83dcc4686e08f5c73d64bf8509b64f3973b77755784f2621" }, "package_hash": { - "sha256": "7b3c569ed2780fa3257dcea1cb0209f574060a3c31cf1e7c8386c90a4df4231a" + "sha256": "b1e2abee2f363b19c06f259595438bd8c5a658a8b17001a18f8417f1d842388d" } } diff --git a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 47e5086e16071df7a8476a3f1f8670060faf3263..ec4883a5ebb8543cbc036420f20639204ab308b6 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:38", + "timestamp": "2026-11-03T23:35:44", "assets": [ { "asset": "sr9iar.usda", diff --git a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 8015670d21a858e5f1e809d7be0a601b16892cd7..73b9220917d723443f7d6e361792dba241472a91 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/fanuc_sr9iar/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:40", + "timestamp": "2026-11-03T23:35:46", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json b/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json index d5d368e64f6bb2cc53ac3e233080445d43cb4900..dc0d1266e05cf519617d9527e0293f6ccc13d698 100644 --- a/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json +++ b/fanuc_sr9iar/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/fanuc_sr9iar/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/fanuc_sr9iar/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sr9iar.usda.png", diff --git a/fanuc_sr9iar/.metadata/sr9iar_benchmark.json b/fanuc_sr9iar/.metadata/fanuc_sr9iar_benchmark.json similarity index 99% rename from fanuc_sr9iar/.metadata/sr9iar_benchmark.json rename to fanuc_sr9iar/.metadata/fanuc_sr9iar_benchmark.json index b5f06dc24fe3bc4a7c26d62c7f4eebdee687019a..47ff67e424ec71fa407def1a85033fb08dd1dad4 100644 --- a/fanuc_sr9iar/.metadata/sr9iar_benchmark.json +++ b/fanuc_sr9iar/.metadata/fanuc_sr9iar_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sr9iar", + "asset": "fanuc_sr9iar", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/fanuc_sr9iar/.metadata/sr9iar_validation.json b/fanuc_sr9iar/.metadata/fanuc_sr9iar_validation.json similarity index 97% rename from fanuc_sr9iar/.metadata/sr9iar_validation.json rename to fanuc_sr9iar/.metadata/fanuc_sr9iar_validation.json index 28deb547bbd840af57951fd643a3a5ce15d1149b..c388d23edb4ee7225c0271e13594b7d25eaa9ca9 100644 --- a/fanuc_sr9iar/.metadata/sr9iar_validation.json +++ b/fanuc_sr9iar/.metadata/fanuc_sr9iar_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/fanuc_sr9iar/com.nvidia.simready.packaging.json b/fanuc_sr9iar/com.nvidia.simready.packaging.json index a625f1b2e38ec536452044e1f2da19b3511eb019..ffe1307f9065c786c7c092d9849b223de951ed4b 100644 --- a/fanuc_sr9iar/com.nvidia.simready.packaging.json +++ b/fanuc_sr9iar/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr9iar.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.fanuc_sr9iar.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "1c30b19d7eba06a8f79580c3556957093806a6c10940e132243150161972a2c3" + "sha256": "fe8ff2c54936acf801407269963d61c4ddb87908078080d4ca2ab96fb1f212eb" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - 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"qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.656, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 7.81, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint7", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_failure_names": { - "value": [], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -2.7925000190734863, - "runtime_upper": 2.7925000190734863, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -2.26889967918396, - "runtime_upper": 2.26889967918396, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -2.967099666595459, - "runtime_upper": 2.967099666595459, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -1.8674999475479126, - "runtime_upper": 2.6877999305725098, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.967099666595459, - "runtime_upper": 2.967099666595459, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -1.3962998390197754, - "runtime_upper": 4.537899494171143, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link7", - "runtime_lower": -2.967099666595459, - "runtime_upper": 2.967099666595459, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 185.704, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 48.791666666666664, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 11710, - "planned_nominal_ticks_estimate": 11710, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 185.60899999993853, - "setup_elapsed_wall_seconds": 1.1089999999385327, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3174.3910000000615, - "observed_service_seconds_per_nominal_tick": 0.015755764304013663, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 170.04599999974016, - "attempts": 11710 - }, - "captures": { - "wall_seconds": 1.8770000002114102, - "attempts": 92 - }, - "bounds": { - "wall_seconds": 3.212000000057742, - "attempts": 541 - }, - "camera": { - "wall_seconds": 0.5119999998714775, - "attempts": 10714 - }, - "optional_motion": { - "wall_seconds": 1.9460000002291054, - "attempts": 11569 - }, - "commands": { - "wall_seconds": 3.0929999995278195, - "attempts": 11470 - }, - "encoding": { - "wall_seconds": 2.5, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 7, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - 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"zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 308, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 62.594, - "message": "", - "metrics": { - "ik_robot_name": { - "value": "Rizon4", - "unit": null - }, - "ik_ee_frame": { - "value": "flange", - "unit": null - }, - "ik_robot_reach_m": { - "value": 0.24249604608828257, - "unit": null - }, - "ik_sphere_center_x": { - "value": 0.0, - "unit": null - }, - "ik_sphere_center_y": { - "value": 0.0, - "unit": null - }, - "ik_sphere_center_z": { - "value": 0.0, - "unit": null - }, - "ik_ee_position_x": { - "value": 0.136, - "unit": null - }, - "ik_ee_position_y": { - "value": -0.11, - "unit": null - }, - "ik_ee_position_z": { - "value": 1.2550000000000001, - "unit": null - }, - "ik_targets_total": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.968, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 44, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 22.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.703, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "ik_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.8698616349393524, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "ik_bbox_baseline_volume": { - "value": 0.06923017210613162, - "unit": null - }, - "ik_precompute_time_sec": { - "value": 0.5083590999711305, - "unit": null - }, - "ik_motion_time_sec": { - "value": 55.33056110003963, - "unit": null - }, - "ik_targets_reachable": { - "value": 5, - "unit": null - }, - "ik_targets_out_of_reach": { - "value": 2, - "unit": null - }, - "ik_targets_passed": { - "value": 5, - "unit": null - }, - "ik_targets_failed": { - "value": 2, - "unit": null - }, - "ik_in_reach_passed": { - "value": 5, - "unit": null - }, - "ik_in_reach_failed": { - "value": 0, - "unit": null - }, - "ik_max_position_error_m": { - "value": 0.00015794565679419322, - "unit": null - }, - "ik_pass_rate": { - "value": 1.0, - "unit": null - }, - "ik_targets_reached": { - "value": 5, - "unit": null - }, - "ik_out_of_reach_tested": { - "value": 2, - "unit": null - }, - "ik_out_of_reach_correctly_failed": { - "value": 0, - "unit": null - }, - "ik_solve_success_reachable": { - "value": 5, - "unit": null - }, - "ik_solve_failed_reachable": { - "value": 0, - "unit": null - }, - "ik_motion_failed_reachable": { - "value": 0, - "unit": null - }, - "ik_motion_timeouts": { - "value": 0, - "unit": null - }, - "ik_joint_limit_violations": { - "value": 0, - "unit": null - }, - "ik_wraparound_corrections": { - "value": 0, - "unit": null - }, - "ik_success_rate": { - "value": 1.0, - "unit": null - }, - "motion_history_ik_target_000_joint_000": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_000.json", - "csv": "motion_history/ik_target_000_joint_000.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_001": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_001.json", - "csv": "motion_history/ik_target_000_joint_001.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_002": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_002.json", - "csv": "motion_history/ik_target_000_joint_002.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_003": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_003.json", - "csv": "motion_history/ik_target_000_joint_003.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_004": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_004.json", - "csv": "motion_history/ik_target_000_joint_004.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_005": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/ik_target_000_joint_005.json", - "csv": "motion_history/ik_target_000_joint_005.csv" - }, - "unit": null - }, - "motion_history_ik_target_000_joint_006": { - "value": { - "schema_version": 1, - "name": "ik_target_000_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - 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"value": { - "schema_version": 1, - "name": "ik_target_006_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 6, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - 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"target_index": 6, - "target_reachable": true, - "commanded_independently": true, - "physics_fps": 240.0, - "capture_interval_steps": 120, - "observation_basis": "target-local nominal steps during playback and reached-target hold only; solver, teleport, reset and rendering ticks excluded", - "verdict_basis": "existing end-effector position-error check; joint plots do not prove end-effector tolerance", - "end_effector_position_tolerance_m": 0.02, - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "reached_target_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 100, - "json": "motion_history/ik_target_006_joint_006.json", - "csv": "motion_history/ik_target_006_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 80.344, - "message": "", - "metrics": { - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - 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"verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 187, - "json": "motion_history/jik_target_004_joint_006.json", - "csv": "motion_history/jik_target_004_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 384.031, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 11.064, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 41, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 269.85, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.875, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_rot_deg": { - "value": 160.0, - "unit": null - }, - "jm_joint_joint1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint1_bbox_m": { - "value": 0.3222, - "unit": null - }, - "jm_joint_joint1_translation_stage_units": { - "value": 8.941263451620355e-08, - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_stage_units": { - "value": 0.322227142472959, - "unit": null - }, - "jm_joint_joint1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint1_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint2_rot_deg": { - "value": 129.998, - "unit": null - }, - "jm_joint_joint2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint2_bbox_m": { - "value": 0.3062, - "unit": null - }, - "jm_joint_joint2_translation_stage_units": { - "value": 1.206705823825127e-07, - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_stage_units": { - "value": 0.3062416673680291, - "unit": null - }, - "jm_joint_joint2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint2_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint3_rot_deg": { - "value": 170.004, - "unit": null - }, - "jm_joint_joint3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint3_bbox_m": { - "value": 0.2883, - "unit": null - }, - "jm_joint_joint3_translation_stage_units": { - "value": 2.361214757228453e-07, - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_stage_units": { - "value": 0.28833037958929414, - "unit": null - }, - "jm_joint_joint3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint3_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint4_rot_deg": { - "value": 154.001, - "unit": null - }, - "jm_joint_joint4_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint4_bbox_m": { - "value": 0.2883, - "unit": null - }, - "jm_joint_joint4_translation_stage_units": { - "value": 1.6079971530007167e-07, - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_stage_units": { - "value": 0.2883147995290188, - "unit": null - }, - "jm_joint_joint4_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint4_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint4_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint4_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint5_rot_deg": { - "value": 170.008, - "unit": null - }, - "jm_joint_joint5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint5_bbox_m": { - "value": 0.2805, - "unit": null - }, - "jm_joint_joint5_translation_stage_units": { - "value": 2.170359352913929e-07, - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_stage_units": { - "value": 0.28045847405448715, - "unit": null - }, - "jm_joint_joint5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint5_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint6_rot_deg": { - "value": 179.905, - "unit": null - }, - "jm_joint_joint6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint6_bbox_m": { - "value": 0.2709, - "unit": null - }, - "jm_joint_joint6_translation_stage_units": { - "value": 2.3353621732367493e-07, - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_stage_units": { - "value": 0.2708591174769533, - "unit": null - }, - "jm_joint_joint6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint6_pct_of_travel": { - "value": 69.2, - "unit": null - }, - "jm_joint_joint6_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint7_rot_deg": { - "value": 170.002, - "unit": null - }, - "jm_joint_joint7_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint7_bbox_m": { - "value": 0.163, - "unit": null - }, - "jm_joint_joint7_translation_stage_units": { - "value": 2.2315455124601342e-07, - "unit": null - }, - "jm_joint_joint7_bbox_diagonal_stage_units": { - "value": 0.16299511224019275, - "unit": null - }, - "jm_joint_joint7_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint7_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint7_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint7_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint7_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint7_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint7_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 7, - "unit": null - }, - "jm_joints_passed": { - "value": 7, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint6_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint7_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/base_link", - "reference_frame": "/World/AssetRoot/Asset/base_link", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint7", - "authored_joint_name": "joint7", - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "child_body_path": "/World/AssetRoot/Asset/link7", - "parent_body_path": "/World/AssetRoot/Asset/link6", - "reference_frame": "/World/AssetRoot/Asset/link6", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/base_link", - "reference_frame": "/World/AssetRoot/Asset/base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - }, - "motion_history_joint_movement_012": { - "value": { - "schema_version": 1, - "name": "joint_movement_012", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_012.json", - "csv": "motion_history/joint_movement_012.csv" - }, - "unit": null - }, - "motion_history_joint_movement_013": { - "value": { - "schema_version": 1, - "name": "joint_movement_013", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint7", - "authored_joint_name": "joint7", - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "child_body_path": "/World/AssetRoot/Asset/link7", - "parent_body_path": "/World/AssetRoot/Asset/link6", - "reference_frame": "/World/AssetRoot/Asset/link6", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "watchdog_budget_exhausted", - "partial": true, - "dropped_samples": 0, - "limitations": [ - "observer could not record every observation" - ], - "dropped_captures": 0, - "sample_count": 161, - "json": "motion_history/joint_movement_013.json", - "csv": "motion_history/joint_movement_013.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 211.156, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 47.612, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1058.04, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 4.625, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_rot_deg": { - "value": 157.144, - "unit": null - }, - "jm_joint_joint1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint1_bbox_m": { - "value": 0.3222, - "unit": null - }, - "jm_joint_joint1_translation_stage_units": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_stage_units": { - "value": 0.3222272318430992, - "unit": null - }, - "jm_joint_joint1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint1_pct_of_travel": { - "value": 98.2, - "unit": null - }, - "jm_joint_joint1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint2_rot_deg": { - "value": 127.679, - "unit": null - }, - "jm_joint_joint2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint2_bbox_m": { - "value": 0.3062, - 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"unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 16, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 15801, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 26.61, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.343, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 668.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 16, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 15801, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.109, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 4.157, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 25.984, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 7, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.8698616349393524, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.8935999298095705, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.6701999473571778, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0027886213087373315 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.7260478973388673, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5445359230041504, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0022657484296295383 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.949471893310547, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7121039199829102, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002962978694836299 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.318697988986969, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.23902349174022675, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0009945479777848556 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.949471893310547, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7121039199829102, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002962978694836299 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.6213279342651367, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.46599595069885247, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0019389530587527485 - }, - { - "name": "joint7", - "index": 6, - "displacement": 0.949471893310547, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7121039199829102, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002962978694836299 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 455 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.3243108105659482, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9932331079244612, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00413272340623827 - }, - { - "name": "joint2", - "index": 1, - "displacement": 1.076017332077026, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.8070129990577696, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0033578839486292367 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.4071470808982847, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 1.0553603106737135, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.004391227218594196 - }, - { - "name": "joint4", - "index": 3, - "displacement": 1.087536096572876, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.815652072429657, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0033938300930369536 - }, - { - "name": "joint5", - "index": 4, - "displacement": 1.407113285064697, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 1.0553349637985228, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.004391121753304361 - }, - { - "name": "joint6", - "index": 5, - "displacement": 1.4353974175453184, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 1.0765480631589888, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.004479386906304228 - }, - { - "name": "joint7", - "index": 6, - "displacement": 1.4071089339256284, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 1.0553317004442213, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0043911081748859715 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 463 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.4312308728694916, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.3234231546521187, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0013457248159420843 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.3503856062889099, - "velocity_hint": 2.0943998960831576, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.26278920471668243, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00109343424879782 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.45818227529525757, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.3436367064714432, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0014298309719551483 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.3516361117362976, - "velocity_hint": 2.44350004196167, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.2637270838022232, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0010973366507727178 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.4581930339336395, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.34364477545022964, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001429864546005355 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.4578588008880615, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.34339410066604614, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0014288215183810848 - }, - { - "name": "joint7", - "index": 6, - "displacement": 0.4581904113292694, - "velocity_hint": 4.886899948120117, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.34364280849695206, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0014298563617387572 - } - ], - "joints_omitted": 0, - "iteration": 2, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 437 - } - ], - "unit": null - }, - "mjc_timing_iterations_omitted": { - "value": 0, - "unit": null - }, - "mjc_completed_nominal_ticks": { - "value": 1595, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.657, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 54.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.719, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -0.8935999298095705, - "final_position": -0.8775108456611633, - "final_error": 0.01608908414840715, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.7260478973388673, - "final_position": -0.7129933834075928, - "final_error": 0.013054513931274547, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -0.949471893310547, - "final_position": -0.9324111342430115, - "final_error": 0.01706075906753557, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -0.318697988986969, - "final_position": -0.3129621148109436, - "final_error": 0.005735874176025391, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": -0.949471893310547, - "final_position": -0.9323773384094238, - "final_error": 0.017094554901123216, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 0.6213279342651367, - "final_position": 0.6101383566856384, - "final_error": 0.011189577579498233, - "entered_tolerance": true - }, - { - "name": "joint7", - 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"unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 146, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 50.297, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.869861620630565, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.811, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 70, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 11.59, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 4.719, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 7, - "unit": null - }, - "sta_joints_passed": { - "value": 7, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.012466385369536835, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.297, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.8698616349393524, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.625, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 89.29, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.515, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 22, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 23, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 22, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 24, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 400000.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 18, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.359, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.869861620630565, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.563, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 21, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 26.81, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.594, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 101, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2306.24462890625, - "damping": 0.0, - "max_force": 7380.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 84, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 93, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1028.554931640625, - "damping": 0.0, - "max_force": 3840.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 87, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 54, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 78, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link6/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 313.3941955566406, - "damping": 0.0, - "max_force": 2340.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 54, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/flexiv_rizon4_flexiv_rizon4/.metadata/flexiv_rizon4_validation.json b/flexiv_rizon4_flexiv_rizon4/.metadata/flexiv_rizon4_validation.json deleted file mode 100644 index 5b38b8ae77978f816e666e054019abf2e9450fc0..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/.metadata/flexiv_rizon4_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/flexiv_rizon4.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - }, - "profile_id": "Robot-Body", - "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} - } -} diff --git a/flexiv_rizon4_flexiv_rizon4/.thumbs/256x256/flexiv_rizon4.usda.png b/flexiv_rizon4_flexiv_rizon4/.thumbs/256x256/flexiv_rizon4.usda.png deleted file mode 100644 index a3024e92d5e033ad92f74d97d0991acfdb8cdfb0..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/.thumbs/256x256/flexiv_rizon4.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:56723ad0687446255881f438739c1bc4e408496914c827e196d866a897bc170e -size 37235 diff --git a/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json b/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json deleted file mode 100644 index f43fe9d238d09ad4312f032196ffbcf83b13dd63..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.flexiv_rizon4_flexiv_rizon4.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "2aa06b368bac0ede09d87244146153995462d51d13e1a3de99b97f699b699997" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "7f6857672379940e093c776ecd23635274c77b0c91692cb6e314acbbefe40fce" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "239e3f5a34a3277883d3f80af8d731f34ba43996888063b529f9b7099b30c2f7" - } - }, - { - "name": "flexiv_rizon4_benchmark.json", - "hash": { - "sha256": "66c34e4b91678198d57c87d2188aed3421ebd51145f4237a6e4db9a76b18c6c0" - } - }, - { - "name": "flexiv_rizon4_validation.json", - "hash": { - "sha256": "68bf34a9caf5b35d48b7394101dcbc3215eaa452909514c86531fbcf806d5342" - } - } - ], - "content_hash": { - "sha256": "9d6921ef518e00f59bbf43fae88037c3af69ebac41d3cbedf4b96328ee075880" - }, - "package_hash": { - "sha256": "0ce63072af6562aecaf8b106a4d16309a76c4fccb461c032b01d76be6cb21afe" - } -} diff --git a/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda b/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda deleted file mode 100644 index 522cb644413898abd674350a5cf6bba7b38b1ef8..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/flexiv_rizon4.usda +++ /dev/null @@ -1,1363 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/A02L_MP" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/A02L_MP" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/A02L_MP" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string name = "ik_target_reach" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string name = "ik_target_reach_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string name = "ik_target_reach" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.218561, 0.242496, 1.306224) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "flexiv_rizon4" - string asset_type = "robot" - string author = "Flexiv" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 20.20000034570694 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 8 - string source_file = "Flexiv/Rizon4/flexiv_rizon4/flexiv_rizon4.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "A02L_MP" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - } - - over "link1" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "link2" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "link3" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "link4" - { - over "collisions" - { - over "collisions_4" - { - token visibility = "invisible" - } - } - } - - over "link5" - { - over "collisions" - { - over "collisions_5" - { - token visibility = "invisible" - } - } - } - - over "link6" - { - over "collisions" - { - over "collisions_6" - { - token visibility = "invisible" - } - } - } - - over "link7" - { - over "collisions" - { - over "collisions_7" - { - token visibility = "invisible" - } - } - - over "flange" - { - matrix4d xformOp:transform:agentFrame = ( (-0.9999999999999953, 8.742278356850262e-8, -3.422853458004915e-8, 0), (-8.74227835685027e-8, -0.9999999999999959, 8.346842594976557e-16, 0), (-3.422853422918592e-8, 3.82703801959814e-15, 0.9999999999999992, 0), (2.220446049250313e-16, 3.6933546498918446e-10, 0.0810000002384189, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "link7_to_flange" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBRBase.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR_ClearCoat.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/aux_definitions.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/core_definitions.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/license.txt b/flexiv_rizon4_flexiv_rizon4/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/flexiv_rizon4_flexiv_rizon4/materials/mdl/support_definitions.mdl b/flexiv_rizon4_flexiv_rizon4/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/mujoco.usda b/flexiv_rizon4_flexiv_rizon4/payloads/Physics/mujoco.usda deleted file mode 100644 index 777d22a155192123095ecd664876801a684ee0ec..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,164 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "A02L_MP" -{ - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "root_joint" - { - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "joint7" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link7" - { - over "link7_to_flange" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "flange" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physics.usda b/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physics.usda deleted file mode 100644 index 6847f862426a42ffbad719ca35a881ad28781fc4..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physics.usda +++ /dev/null @@ -1,373 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "A02L_MP" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, -0, 0.09) - float physics:mass = 3.7 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 7380 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.155) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-3.090862e-8, 0.70710677, 3.090862e-8, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -159.99846 - float physics:upperLimit = 159.99846 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0.01, 0.15) - float physics:mass = 3.7 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 7380 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.03, 0.21) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -129.99838 - float physics:upperLimit = 129.99838 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0.04, 0.1) - float physics:mass = 2.7 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 3840 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.035, 0.205) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -170.00229 - float physics:upperLimit = 170.00229 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.01, -0, 0.13) - float physics:mass = 2.4 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 3840 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (-0.02, -0.03, 0.19) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071067, 0, 0, -0.7071068) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -106.99986 - float physics:upperLimit = 153.99959 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.01, 0.03, 0.1) - float physics:mass = 2.4 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 2340 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (-0.02, 0.025, 0.195) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-3.090862e-8, -0.70710677, 3.090862e-8, -0.70710677) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -170.00229 - float physics:upperLimit = 170.00229 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0.13) - float physics:mass = 2.4 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 2340 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.03, 0.19) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -80.00209 - float physics:upperLimit = 260.0025 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.01, 0.06, 0.07) - float physics:mass = 2.1 - - def PhysicsRevoluteJoint "joint7" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 400000 - float drive:angular:physics:maxForce = 2340 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (-0.055, 0.07, 0.11) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -170.00229 - float physics:upperLimit = 170.00229 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link7" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0.03) - float physics:mass = 0.8 - - def PhysicsFixedJoint "link7_to_flange" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.081) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_7" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "flange" - { - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physx.usda b/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physx.usda deleted file mode 100644 index a219c804df999aebade1902061d6bdab521c0dff..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/Physics/physx.usda +++ /dev/null @@ -1,147 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "A02L_MP" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120.000275 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120.000275 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 140.00224 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 140.00224 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint7" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - } - - over "link7" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/base.usda b/flexiv_rizon4_flexiv_rizon4/payloads/base.usda deleted file mode 100644 index d0c017ae74eb6c83e08da94457572612de4c40b6..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/base.usda +++ /dev/null @@ -1,279 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "A02L_MP" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "base_link" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (-4.371138828673793e-8, 0, 0, 1) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.1550000011920929) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (-4.371138828673793e-8, 0, 0, 1) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (2.622683181741081e-9, -0.029999999329447746, 0.36500000953674316) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (-4.371138828673793e-8, 0, 0, 1) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (5.68248026411311e-9, -0.06499999761581421, 0.5699999928474426) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.020000003278255463, -0.034999996423721313, 0.7599999904632568) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (-4.371138828673793e-8, 0, 0, -1) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (3.725290298461914e-9, -0.009999996051192284, 0.9549999833106995) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (-4.371138828673793e-8, 0, 0, -1) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (1.1026071167208329e-9, -0.03999999538064003, 1.1449999809265137) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link7" - { - quatd xformOp:orient = (-3.0908619663705394e-8, -0.7071067690849304, 3.0908619663705394e-8, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.05499999225139618, -0.10999999940395355, 1.2549999952316284) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "flange" - { - quatd xformOp:orient = (-0.7071067690849304, 0, -0.7071067690849304, 6.181723932741079e-8) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.13599999248981476, -0.11000000685453415, 1.2549999952316284) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/geometries.usd b/flexiv_rizon4_flexiv_rizon4/payloads/geometries.usd deleted file mode 100644 index 51da1129ac86a48e9040ec49806a405e4b6e199d..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f3abf8996426ee9052980e40924fd6b3f88ae53807e04e4292e46e9522f2ed68 -size 4571440 diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda b/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda deleted file mode 100644 index e104375d82a19e0a288ee4c36af2985448930df9..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/instances.usda +++ /dev/null @@ -1,438 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_4" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_5" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_6" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_rizon_light_grey" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_7" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_7" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda b/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda deleted file mode 100644 index 0c762a0ea94b82a6c44d17f9e09bb902fdb6affd..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/materials.usda +++ /dev/null @@ -1,237 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_rizon_light_grey" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.7, 0.7, 0.7) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7, 0.7, 0.7) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_rizon_blue" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_rizon_dark_grey" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2, 0.2, 0.2) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_rizon_white" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/payloads/robot.usda b/flexiv_rizon4_flexiv_rizon4/payloads/robot.usda deleted file mode 100644 index 0361a2a03a984918b4997d2a297b29368b447dae..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/payloads/robot.usda +++ /dev/null @@ -1,245 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "A02L_MP" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint7" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link7" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link7_to_flange" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "flange" - { - string isaac:nameOverride - } - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/runnables/physics/mujoco.usda b/flexiv_rizon4_flexiv_rizon4/runnables/physics/mujoco.usda deleted file mode 100644 index 52c286c774e08a689a29cef404b3d891c0795fbe..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/runnables/physics/mujoco.usda +++ /dev/null @@ -1,262 +0,0 @@ -#usda 1.0 -( - defaultPrim = "A02L_MP" -) - -def "A02L_MP" -{ - over "base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "collisions_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "collisions_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "collisions_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint7" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link7" - { - over "collisions" - { - over "collisions_7" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_A02L_MP_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 7380 - double mjc:forceRange:min = -7380 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 7380 - double mjc:forceRange:min = -7380 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 3840 - double mjc:forceRange:min = -3840 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 3840 - double mjc:forceRange:min = -3840 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 2340 - double mjc:forceRange:min = -2340 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 2340 - double mjc:forceRange:min = -2340 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_A02L_MP_link6_joint7" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -22918311.80523293] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 2340 - double mjc:forceRange:min = -2340 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/runnables/physics/newton.usda b/flexiv_rizon4_flexiv_rizon4/runnables/physics/newton.usda deleted file mode 100644 index e0ee93ed97b9057bb3ca586698c01ed73da60f72..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/runnables/physics/newton.usda +++ /dev/null @@ -1,191 +0,0 @@ -#usda 1.0 -( - defaultPrim = "A02L_MP" -) - -over "A02L_MP" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 2306.2446 - float newton:damping = 76.874825 - float newton:velocityLimit = 120.000275 - } - } - - over "link1" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 2306.2446 - float newton:damping = 76.874825 - float newton:velocityLimit = 120.000275 - } - } - - over "link2" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 1028.5549 - float newton:damping = 34.285164 - float newton:velocityLimit = 140.00224 - } - } - - over "link3" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 1028.5549 - float newton:damping = 34.285164 - float newton:velocityLimit = 140.00224 - } - } - - over "link4" - { - over "collisions" - { - over "collisions_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 313.3942 - float newton:damping = 10.446475 - float newton:velocityLimit = 279.99875 - } - } - - over "link5" - { - over "collisions" - { - over "collisions_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 313.3942 - float newton:damping = 10.446475 - float newton:velocityLimit = 279.99875 - } - } - - over "link6" - { - over "collisions" - { - over "collisions_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint7" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 313.3942 - float newton:damping = 10.446475 - float newton:velocityLimit = 279.99875 - } - } - - over "link7" - { - over "collisions" - { - over "collisions_7" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "root_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda b/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda deleted file mode 100644 index d2c48ac92efd31b7a819df011c42677e885a7d95..0000000000000000000000000000000000000000 --- a/flexiv_rizon4_flexiv_rizon4/runnables/physics/physx.usda +++ /dev/null @@ -1,209 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "A02L_MP" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "A02L_MP" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120.000275 - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120.000275 - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 140.00224 - } - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 140.00224 - } - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - - over "collisions" - { - over "collisions_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - - over "collisions" - { - over "collisions_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint7" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 279.99875 - } - - over "collisions" - { - over "collisions_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "link7" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_7" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ea8d4cb971b1ad4ed27508f2ca536c6df9527df1..50093a61be9f6b216189fd53a6f341f9446e42bb 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:45", + "timestamp": "2026-11-03T23:35:47", "assets": [ { "asset": "factory_franka.usda", diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 716dcaefbc7f965c42f3fd3025570b11b0e53586..73f54bda20dcae9ea4967196eceea5dafe783daf 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:48", + "timestamp": "2026-11-03T23:35:49", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json index 59ef15332fd8821a49a98e446c83b19b5b410e9f..9e7f8f2c8b59c7d4e8885764ca6268e06d83b1b2 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_factoryfranka_factory_franka/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/frankarobotics_factoryfranka_factory_franka/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/frankarobotics_factoryfranka_factory_franka/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/factory_franka.usda.png", diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_benchmark.json b/frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_benchmark.json similarity index 99% rename from frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_benchmark.json rename to frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_benchmark.json index d7be7cb3ce82d89868af5cdd98b352d7564488bd..ebc984c91f8920e3922b73ef8a6402cbd0237aa6 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_benchmark.json +++ b/frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "factory_franka", + "asset": "frankarobotics_factoryfranka_factory_franka", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_validation.json b/frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_validation.json similarity index 97% rename from frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_validation.json rename to frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_validation.json index 45df6ff4cf76c8360c057471bc27b3adacff71c5..cd9bc70277ed11c774c1e16b7936bcb1b75201e5 100644 --- a/frankarobotics_factoryfranka_factory_franka/.metadata/factory_franka_validation.json +++ b/frankarobotics_factoryfranka_factory_franka/.metadata/frankarobotics_factoryfranka_factory_franka_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json b/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json index 78645559a856707adc9646feeed7fb1781d03f72..507aeaf451d491db8113c612b41998f53578276e 100644 --- a/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json +++ b/frankarobotics_factoryfranka_factory_franka/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_factoryfranka_factory_franka.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_factoryfranka_factory_franka.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6bafb6ff65bdc63402672eab5f7ea099f380f197b7b5a042363535f36c3118b9" + "sha256": "67a301330d811ed43ea6992028ec7650b25905cfdf2e11d8e05d6506cbf64535" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ecde513391a9bdfeb78b611da1f8cbdf80ede5e666005f3670517e79f7de3484" + "sha256": "62749eff0ef9ad55d13a9a803a189dcde16350c11d4a08bdaceb0361435ba5de" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "factory_franka_benchmark.json", + "name": "frankarobotics_factoryfranka_factory_franka_benchmark.json", "hash": { - "sha256": "88229942daae3eb1e65c0c8e4adc964c3d1dbe4c2a7f997976a9d4da2a7d3d70" + "sha256": "f2a06c5fe6bee1df64f252a3ebe4f3de0ef3d5f61bd7ebc56e62678e414bad93" } }, { - "name": "factory_franka_validation.json", + "name": "frankarobotics_factoryfranka_factory_franka_validation.json", "hash": { - "sha256": "80bf8e0ddd5c891b519795035743fe67fcbce8f825f8a4afbdd561ab62ef4fda" + "sha256": "319c3ba26b53351a4dc5abefbf723dd0533683e5d732830a588f8e29438226ef" } }, { @@ -44,6 +44,6 @@ "sha256": "c723905bf6af2f4676e44e8c9647487171efb622ab95b36bd977aa52f084cd44" }, "package_hash": { - "sha256": "89e4dd018e359b37bea8159ff4f0237c5f1907f7c6f84947e3396cd7562d367a" + "sha256": "b12a0f2cb5082e8fff7ecc52fa2089f48dcb4a84677d2f8c41f935ddc089e459" } } diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6dba6c0f08beea0935c8e1b43380e1ec4fce7f03..fcb5c2884f7beac6b5b281c18299750ab993ced2 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:49", + "timestamp": "2026-11-03T23:35:50", "assets": [ { "asset": "panda_instanceable.usda", diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 21540fe98421a4130858572941412175021797a0..203dd98dfe9f968017d4f28147f84290edc09a91 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:51", + "timestamp": "2026-11-03T23:35:52", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index 7726120579e0c9b11523b0018f894db961d61ff5..5c85a052ebe37484472b1c75bbeefe6bd748c597 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankaemika_panda_instanceable/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/frankarobotics_frankaemika_panda_instanceable/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/frankarobotics_frankaemika_panda_instanceable/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/panda_instanceable.usda.png", diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_benchmark.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_benchmark.json similarity index 99% rename from frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_benchmark.json rename to frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_benchmark.json index 52c7f12b16643ee66b399142c5a33036598d3f8b..6f2ff76289c49804b40832141e903a78a37eeb01 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_benchmark.json +++ b/frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "panda_instanceable", + "asset": "frankarobotics_frankaemika_panda_instanceable", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_validation.json b/frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_validation.json similarity index 97% rename from frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_validation.json rename to frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_validation.json index 2021c5ad0ed1ab5c1cfdb256aeb3489b302d0886..41f660cbbf5fec322f438c4de0314c8c7ca3824b 100644 --- a/frankarobotics_frankaemika_panda_instanceable/.metadata/panda_instanceable_validation.json +++ b/frankarobotics_frankaemika_panda_instanceable/.metadata/frankarobotics_frankaemika_panda_instanceable_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json b/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json index e14398c1b25997ebafbb6db64927fe6aab95efbb..ed37478827d56f789beda7fa12bbfa76a25a07d5 100644 --- a/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json +++ b/frankarobotics_frankaemika_panda_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankaemika_panda_instanceable.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankaemika_panda_instanceable.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "6a1a6aa1391b3169add84849a14943ce949974afa4dc3837f552b5a1de7948a5" + "sha256": "5ca7e28b9f8bb0c258d8643ac5352c560575ee530a3bdcb6c6e1423d3d784d89" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "051488334f915b877b30e6bae078a6b2336e5df89b0b6b06917f4d034b2c5243" + "sha256": "13ee31378e0daf552a11e6edf5dd97b3f1b6897bde9743327732e68bf5cc62af" } }, { @@ -22,21 +22,21 @@ } }, { - "name": "license.txt", + "name": "frankarobotics_frankaemika_panda_instanceable_benchmark.json", "hash": { - "sha256": "a6cba85bc92e0cff7a450b1d873c0eaa2e9fc96bf472df0247a26bec77bf3ff9" + "sha256": "6c6834d53f40468621ebe2e596714561b04d3518b4ae02db36b32e4cb52dc435" } }, { - "name": "panda_instanceable_benchmark.json", + "name": "frankarobotics_frankaemika_panda_instanceable_validation.json", "hash": { - "sha256": "5664d8a30340e0e5c7bfdeb50b2363f1dfffa143e3c3ba38067ce35e3a703621" + "sha256": "8960f8e3dcf1d4c7066ea040c2b90020f2bb67d2c901d69dcde85aaa43fe11ad" } }, { - "name": "panda_instanceable_validation.json", + "name": "license.txt", "hash": { - "sha256": "d34492c10b16bde22eeab0d320da7d818ae581e95bf14764dfb285ea45b47ea1" + "sha256": "a6cba85bc92e0cff7a450b1d873c0eaa2e9fc96bf472df0247a26bec77bf3ff9" } } ], @@ -44,6 +44,6 @@ "sha256": "0bea3e6022c40655d9b9a062eaa71398bf4a796717023f48738df8c2d13b3f25" }, "package_hash": { - "sha256": "fbbc676b8acb049b354791e08c0b4380fc54a69ff7bb36305511306cf785c30f" + "sha256": "ff9c78f1c5096cda8dc2554df9612bb4af419a371a5d19b1a7123cd9e868e231" } } diff --git a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 2d813c216349f302e15ddea9e9470056962fb709..8af536b720d9e35be13732cf991477ad4de85cd8 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:53", + "timestamp": "2026-11-03T23:35:54", "assets": [ { "asset": "fr3.usda", diff --git a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 583dd86a30ce90b48c81f222a0d8ebf2b5ca612d..56031c0b7efa6528e2f1c208653b9a82face8b3e 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:25:56", + "timestamp": "2026-11-03T23:35:56", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json index 4f414c1232749d191ef37827e18908d999ed3a7a..7d3efce0cd10cffba2db2d304332db1781816e7c 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankafr3_fr3/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/frankarobotics_frankafr3_fr3/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/frankarobotics_frankafr3_fr3/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/fr3.usda.png", diff --git a/frankarobotics_frankafr3_fr3/.metadata/fr3_benchmark.json b/frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_benchmark.json similarity index 99% rename from frankarobotics_frankafr3_fr3/.metadata/fr3_benchmark.json rename to frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_benchmark.json index ddec80d6241a834207c84cc4c19af11b606b819f..4d3ccc974cba1e5c45747ac31359414bc24a000e 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/fr3_benchmark.json +++ b/frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "fr3", + "asset": "frankarobotics_frankafr3_fr3", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/frankarobotics_frankafr3_fr3/.metadata/fr3_validation.json b/frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_validation.json similarity index 97% rename from frankarobotics_frankafr3_fr3/.metadata/fr3_validation.json rename to frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_validation.json index df400ef3c0356ca1a8e9afd1874e91ff81a683b9..3f26e50405023b9e9737189f96b155ca3b0c1046 100644 --- a/frankarobotics_frankafr3_fr3/.metadata/fr3_validation.json +++ b/frankarobotics_frankafr3_fr3/.metadata/frankarobotics_frankafr3_fr3_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json b/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json index d3fe51f78a796279150064c48f81bf29003925a9..27e5c64423a77ec0015cc5b3ece2797188471792 100644 --- a/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json +++ b/frankarobotics_frankafr3_fr3/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankafr3_fr3.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankafr3_fr3.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7fb2a52ed64c5b78eef8582b16173ba1d96d8a3f10cee524b42b489f6e83d3ed" + "sha256": "1bf44c9f30db275ab8a9b9b5e96ea411593e587248e9572d8ea38c18dbd2fcae" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "84c51664ad9133797b318a3cc492dedffe342baeda7c8163bee8ec9fb4aede0a" + "sha256": "cc6e4546041488cdc54b53f8c4d99ba084f32aa6d4e7e71a18988062b7f2e0b4" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "fr3_benchmark.json", + "name": "frankarobotics_frankafr3_fr3_benchmark.json", "hash": { - "sha256": "04218ff262c03e2ad12cfdb406db7a3a3553c3d88e25ec39ab61a71c9223c6d6" + "sha256": "9f36d802a0abf94bb9b6ac580a8a53185192802d39f3512d1ac9cd55267790c5" } }, { - "name": "fr3_validation.json", + "name": "frankarobotics_frankafr3_fr3_validation.json", "hash": { - "sha256": "6fafdf9174ef080367a93fa538fbf16c6ada00b966fbbc6d2ccbfbbc6ce61292" + "sha256": "9dcb89acaa364984c56336d7cccbfadb4c6e53ccae40fbe63de841015210046e" } }, { @@ -44,6 +44,6 @@ "sha256": "600fc0a6d27bc77df81b916944d359fef499e94c00eac8ddc959ae7a49348ea4" }, "package_hash": { - "sha256": "37542d237ef59cc726c01a6eacef72698b57c9bcb7ff91fafd1242d48ed87c8a" + "sha256": "c865d1ab1cb38b43be76cdd8906a110f81a28b66039ab9fa0f0be6fed076176a" } } diff --git a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 2f419d249c0414a95382f6cc603f2d8ab1faa5f6..423c882bdb0c70c5246813c26a1ebd20a7f7a44f 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:25:57", + "timestamp": "2026-11-03T23:35:57", "assets": [ { "asset": "franka.usda", diff --git a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 97eedf653d6fd3a5cd656ac64e0f58777de71257..9cb7b918d04d8ea8e01c11b291f1f8f6b5b1cc9d 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:00", + "timestamp": "2026-11-03T23:35:59", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json index c0a84a88208d0bf00c42d212fac3ed819a56c7f3..9ff494c5d85b0b98f85e6a7868c7da8ea85ac9ea 100644 --- a/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/frankarobotics_frankapanda_franka/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/frankarobotics_frankapanda_franka/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/frankarobotics_frankapanda_franka/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/franka.usda.png", diff --git a/frankarobotics_frankapanda_franka/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json b/frankarobotics_frankapanda_franka/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json index 394c82c27e96ba3685d8cae17ec24bf25245ea82..b780a1d1d48a37dd6806a37e4e82702df74af5bc 100644 --- a/frankarobotics_frankapanda_franka/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json +++ b/frankarobotics_frankapanda_franka/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json @@ -232,7 +232,10 @@ }, "profile_id": "Robot-Gripper", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/frankarobotics_frankapanda_franka/.metadata/franka_benchmark.json b/frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_benchmark.json similarity index 99% rename from frankarobotics_frankapanda_franka/.metadata/franka_benchmark.json rename to frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_benchmark.json index 2c09d0dbc111265d4b00dd63bdcef6c3caaea70e..d342e1e8ce07d3cec22fd9616346a520e39e17c1 100644 --- a/frankarobotics_frankapanda_franka/.metadata/franka_benchmark.json +++ b/frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "franka", + "asset": "frankarobotics_frankapanda_franka", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/frankarobotics_frankapanda_franka/.metadata/franka_validation.json b/frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_validation.json similarity index 97% rename from frankarobotics_frankapanda_franka/.metadata/franka_validation.json rename to frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_validation.json index d0ed1ef84e9ab849b19c2d0979ade8b9d9135aba..f8e777eae888cf3c7a983783583de90f52e11172 100644 --- a/frankarobotics_frankapanda_franka/.metadata/franka_validation.json +++ b/frankarobotics_frankapanda_franka/.metadata/frankarobotics_frankapanda_franka_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/frankarobotics_frankapanda_franka/com.nvidia.simready.packaging.json b/frankarobotics_frankapanda_franka/com.nvidia.simready.packaging.json index 364adba15511799474a51db4915a96f1831ac72d..4aa6590334777e750a3cdbc224819559698c9e32 100644 --- a/frankarobotics_frankapanda_franka/com.nvidia.simready.packaging.json +++ b/frankarobotics_frankapanda_franka/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankapanda_franka.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.frankarobotics_frankapanda_franka.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8f750c054f21a2f1822ff7b26716ca27f6d8200068b5f661cf6702f350f33c0c" + "sha256": "56d7823e08d939c59e899eb5abf829bad512fd5f56c64a49a0dc421edb37a479" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - 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}, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/Geometry/root/base/link1/link2/link3/link4/link5/gripper/tip_left", - "runtime_lower": -0.046950001269578934, - "runtime_upper": 0.0, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - }, - "motion_history_eff_joint_008": { - "value": { - "schema_version": 1, - "name": "eff_joint_008", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/Geometry/root/base/link1/link2/link3/link4/link5/gripper/tip_right", - "runtime_lower": -0.046950001269578934, - "runtime_upper": 0.0, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_008.json", - "csv": "motion_history/eff_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 411.062, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 87.09166666666667, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 20902, - "planned_nominal_ticks_estimate": 20900, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 410.93799999996554, - "setup_elapsed_wall_seconds": 1.562999999965541, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 2949.0620000000345, - "observed_service_seconds_per_nominal_tick": 0.01958544636876854, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 374.41499999607913, - "attempts": 20902 - }, - "captures": { - "wall_seconds": 9.966999999945983, - "attempts": 165 - }, - "bounds": { - "wall_seconds": 7.169000000809319, - "attempts": 999 - }, - "camera": { - "wall_seconds": 1.0760000000009313, - "attempts": 19798 - }, - "optional_motion": { - "wall_seconds": 3.7719999997643754, - "attempts": 20835 - }, - "commands": { - "wall_seconds": 5.5630000019446015, - "attempts": 20662 - }, - "encoding": { - "wall_seconds": 4.60999999998603, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 8, - "unit": null - }, - "frs_joints_tested": { - "value": 8, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.028963701169595197, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "dof_joint1", - "segment": "to_max", - "requested_start": -5.174216539671761e-07, - "observed_start": -5.174216539671761e-07, - "ramp_seconds": 4.916666666666667, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001285334073956715 - }, - { - "joint": "dof_joint1", - "segment": "to_min", - "requested_start": 2.487097907066345, - "observed_start": 2.4870941638946533, - "ramp_seconds": 8.7625, - "velocity_hint_native_per_second": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.5708000659942627, - "runtime_upper": 1.5708000659942627, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1000000.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "dof_joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 5.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.5708000659942627, - "runtime_upper": 1.5708000659942627, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - 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"unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.094399929046631, - "runtime_upper": 2.094399929046631, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1000000.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "dof_joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 100.0, - "damping": 1.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "unknown_native", - "source": "current sweep segment destination" - }, - "error": { - "unit": "unknown_native", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.046950001269578934, - "runtime_upper": 0.0, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1000000.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - }, - "motion_history_frs_joint_008": { - "value": { - "schema_version": 1, - "name": "frs_joint_008", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "unknown_native", - "source": "current sweep segment destination" - }, - "error": { - "unit": "unknown_native", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.046950001269578934, - "runtime_upper": 0.0, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1000000.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_008.json", - "csv": "motion_history/frs_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.312, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.672, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.281, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.406, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.985, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/I2RT/yam/simready_usd/yam.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, not an [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 216.781, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/I2RT/yam/simready_usd/yam.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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}, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "dof_joint8", - "authored_joint_name": "dof_joint8", - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "child_body_path": "/World/AssetRoot/Asset/Geometry/root/base/link1/link2/link3/link4/link5/gripper/tip_right", - "parent_body_path": "/World/AssetRoot/Asset/Geometry/root/base/link1/link2/link3/link4/link5/gripper", - "reference_frame": "/World/AssetRoot/Asset/Geometry/root/base/link1/link2/link3/link4/link5/gripper", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 65.734, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 39.104, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1303.47, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.531, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.827586, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 24, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.866885, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.015232, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 65.734, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 39.104, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1303.47, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.531, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.827586, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 24, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.866885, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.015232, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.515, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.11, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1022.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 8, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 39038, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.515, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.11, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1022.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 8, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 39038, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.61, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 8, - "unit": null - }, - "mjc_valid_joints": { - "value": 8, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 541, - "hold_frames": 1440, - "total_frames": 1981, - "ramp_seconds": 2.254166666666667, - "hold_seconds": 6.0, - "observation_seconds": 8.254166666666666, - "joints": [ - { - "name": "dof_joint1", - "index": 0, - "displacement": 0.6894005798760146, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.4587508479766455, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001693846712678405 - }, - { - "name": "dof_joint2", - "index": 1, - "displacement": 1.0680657813060417, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7107276918117837, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0026242213386517554 - }, - { - "name": "dof_joint3", - "index": 2, - "displacement": 1.0680261490194243, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7107013191256797, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0026241239627278526 - }, - { - "name": "dof_joint4", - "index": 3, - "displacement": 0.5026322057793005, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.33446875061099474, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001234959665393204 - }, - { - "name": "dof_joint5", - "index": 4, - "displacement": 0.5026554321112622, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.3344842062108214, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012350167321366755 - }, - { - "name": "dof_joint6", - "index": 5, - "displacement": 0.6702120800232478, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.4459821604590928, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0016467008611291004 - }, - { - "name": "dof_joint7", - "index": 6, - "displacement": 0.03098698612843336, - "velocity_hint": 57.295780181884766, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.02061980592649909, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 7.61345524236399e-05 - }, - { - "name": "dof_joint8", - "index": 7, - "displacement": 0.03098695843328585, - "velocity_hint": 57.295780181884766, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.020619787497195757, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 7.613448437708477e-05 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 502 - }, - { - "ramp_frames": 668, - "hold_frames": 1440, - "total_frames": 2108, - "ramp_seconds": 2.783333333333333, - "hold_seconds": 6.0, - "observation_seconds": 8.783333333333333, - "joints": [ - { - "name": "dof_joint1", - "index": 0, - "displacement": 1.3509371018409726, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7280499351238774, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0021776147855856465 - }, - { - "name": "dof_joint2", - "index": 1, - "displacement": 0.7697474098205399, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.4148339334362191, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012407782260837052 - }, - { - "name": "dof_joint3", - "index": 2, - "displacement": 0.7711440658569335, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.41558662231810783, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00124302953658173 - }, - { - "name": "dof_joint4", - "index": 3, - "displacement": 0.7465347540378571, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.4023241189425577, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012033610714556886 - }, - { - "name": "dof_joint5", - "index": 4, - "displacement": 0.7464908254146576, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.4023004448342466, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012032902616310182 - }, - { - "name": "dof_joint6", - "index": 5, - "displacement": 0.9953586459159851, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5364208271403513, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0016044475359766608 - }, - { - "name": "dof_joint7", - "index": 6, - "displacement": 0.009623911604285239, - "velocity_hint": 57.295780181884766, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.005186539187938153, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 1.551306287761456e-05 - }, - { - "name": "dof_joint8", - "index": 7, - "displacement": 0.011945613101124762, - "velocity_hint": 57.295780181884766, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.006437755563480411, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 1.9255481011337672e-05 - 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"timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "dof_joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 5.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 334, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "dof_joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 2.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 334, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "dof_joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 100.0, - "damping": 1.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 334, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "final_target": { - "unit": "unknown_native", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "unknown_native", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 334, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_007": { - "value": { - "schema_version": 1, - "name": "mjc_joint_007", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "final_target": { - "unit": "unknown_native", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "unknown_native", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 334, - "json": "motion_history/mjc_joint_007.json", - "csv": "motion_history/mjc_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.594, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.765, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 720.63, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.735, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000232, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.00072, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.594, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.765, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 720.63, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.735, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000232, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.00072, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.845, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 969.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 8, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 39057, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.845, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 969.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 8, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 39057, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.984, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 10.186, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 509.3, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.313, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.9, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": -0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 1, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 0, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.984, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 10.186, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 509.3, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.313, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.9, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": -0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 1, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 0, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.5, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.469, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1734.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.170924, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.5, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.469, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1734.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.170924, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 36.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.936, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1187.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "universal_surface_materials_total": { - "value": 8, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 38795, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 36.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.936, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1187.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 8, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 8, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 8, - "unit": null - }, - "universal_surface_materials_total": { - "value": 8, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 9, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 38795, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.266, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.5, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.328, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 8, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.937, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 80, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 24.21, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.531, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 8, - "unit": null - }, - "sta_joints_passed": { - "value": 8, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.06161658791788381, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 5.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 2.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 100.0, - "damping": 1.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "unknown_native", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "unknown_native/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "unknown_native", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "unknown_native", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "unknown_native", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - }, - "motion_history_sta_joint_008": { - "value": { - "schema_version": 1, - "name": "sta_joint_008", - "channels": { - "position": { - "unit": "unknown_native", - 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}, - "goal_error": { - "unit": "unknown_native", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_008.json", - "csv": "motion_history/sta_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 15.282, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 8, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - 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"unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 26, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 29, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 5.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 2.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 25, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 100.0, - "damping": 1.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "unknown_native/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "unknown_native/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "unknown_native/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 7, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - }, - "motion_history_vel_joint_008": { - "value": { - "schema_version": 1, - "name": "vel_joint_008", - "channels": { - "velocity": { - "unit": "unknown_native/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "unknown_native/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "unknown_native/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale not verified; stage metersPerUnit does not establish tensor units", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 7, - "json": "motion_history/vel_joint_008.json", - "csv": "motion_history/vel_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 226.859, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 8, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.641, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 26, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 24.65, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.282, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 8, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 10.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 400.0, - "damping": 5.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 2.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 100.0, - "damping": 1.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "unknown_native/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "unknown_native/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "unknown_native/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint7", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint7", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - }, - "motion_history_vel_joint_008": { - "value": { - "schema_version": 1, - "name": "vel_joint_008", - "channels": { - "velocity": { - "unit": "unknown_native/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "unknown_native", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "unknown_native/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "unknown_native/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "dof_joint8", - "unit": "unknown_native", - "unit_basis": "native linear articulation tensor scale unverified for actual Newton version; only Newton 1.2.1 qualified", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/Physics/dof_joint8", - "native_tensor_package_version": "1.5.0", - "native_tensor_version_source": "loaded newton.__version__", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 200.0, - "damping": 10.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_008.json", - "csv": "motion_history/vel_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/i2rt_yam/.metadata/yam_validation.json b/i2rt_yam/.metadata/yam_validation.json deleted file mode 100644 index 42e6e3a836468b1693d56fea20445e9bbe07dc3f..0000000000000000000000000000000000000000 --- a/i2rt_yam/.metadata/yam_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/yam.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - 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"package_hash": { - "sha256": "168b6ca464df5611c079244b8017d9568a9afba3354817ea1a8fee594d3ea5e5" - } -} diff --git a/i2rt_yam/materials/mdl/OmniPBR.mdl b/i2rt_yam/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/i2rt_yam/materials/mdl/OmniPBRBase.mdl b/i2rt_yam/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/i2rt_yam/materials/mdl/OmniPBR_ClearCoat.mdl b/i2rt_yam/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/i2rt_yam/materials/mdl/aux_definitions.mdl b/i2rt_yam/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/i2rt_yam/materials/mdl/core_definitions.mdl b/i2rt_yam/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/i2rt_yam/materials/mdl/license.txt b/i2rt_yam/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/i2rt_yam/materials/mdl/support_definitions.mdl b/i2rt_yam/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/i2rt_yam/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/i2rt_yam/payloads/Physics/mujoco.usda b/i2rt_yam/payloads/Physics/mujoco.usda deleted file mode 100644 index 41f2f3226c5168994f3bf4b39f04a90617492b42..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,227 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -over "urdf_top_assembly" -{ - over "Physics" - { - def MjcActuator "dof_joint0_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint1_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint2_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint3_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint4_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint5_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint6_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint7_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - def MjcActuator "dof_joint8_actuator" - { - uniform double mjc:forceRange:max = 1 - uniform double mjc:forceRange:min = -1 - custom rel mjc:target - prepend rel mjc:target = - } - - over "dof_joint0" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "dof_joint7" ( - delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] - ) - { - } - - over "dof_joint8" ( - delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] - ) - { - } - } - - over "Geometry" - { - over "root" - { - over "base" - { - over "link1" - { - over "link2" - { - over "link3" - { - over "link4" - { - over "link5" - { - over "gripper" - { - over "tip_left" - { - } - - over "tip_right" - { - } - - over "gripper" - { - } - } - - over "link5" - { - } - } - - over "link4" - { - } - } - - over "link3" - { - } - } - - over "link2" - { - } - } - - over "link1" - { - } - } - - over "base" - { - } - } - } - } - - over "Materials" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/i2rt_yam/payloads/Physics/physics.usda b/i2rt_yam/payloads/Physics/physics.usda deleted file mode 100644 index 6fe0714028da813417922f019bedfb38cf0fd0d4..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/Physics/physics.usda +++ /dev/null @@ -1,437 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -over "urdf_top_assembly" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "Geometry" - { - over "root" - { - over "base" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0247678, -0.000024007, 0.0000382998) - float3 physics:diagonalInertia = (0.0006783059, 0.0015705907, 0.0016940404) - float physics:mass = 0.873654 - quatf physics:principalAxes = (0.0004989534, 0.707482, 0.7067309, -0.0006685489) - - over "base" ( - instanceable = false - ) - { - over "base" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0233636, -0.00172503, -0.00727828) - float3 physics:diagonalInertia = (0.0000471815, 0.00010625073, 0.00013491308) - float physics:mass = 0.101218 - quatf physics:principalAxes = (-0.19681282, 0.7070806, 0.64524364, 0.2120435) - - over "link1" ( - instanceable = false - ) - { - over "link1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000134495, -0.0331253, 0.129165) - float3 physics:diagonalInertia = (0.0008000883, 0.014599001, 0.0146686) - float physics:mass = 1.46908 - quatf physics:principalAxes = (0.7071178, -0.00002336814, 0.70709574, 0.00013679931) - - over "link2" ( - instanceable = false - ) - { - over "link2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0556042, -0.0340514, -0.135083) - float3 physics:diagonalInertia = (0.00087644195, 0.0076296045, 0.0076519796) - float physics:mass = 0.982553 - quatf physics:principalAxes = (0.7341743, -0.09215026, 0.6673095, -0.08481984) - - over "link3" ( - instanceable = false - ) - { - over "link3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0550959, 0.032726, -0.0575534) - float3 physics:diagonalInertia = (0.00028778997, 0.0007664301, 0.00078788796) - float physics:mass = 0.462165 - quatf physics:principalAxes = (0.9410857, 0.100607224, 0.3128497, 0.0797556) - - over "link4" ( - instanceable = false - ) - { - over "link4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0375847, -0.0000355003, -0.000825911) - float3 physics:diagonalInertia = (0.00016964736, 0.00019568621, 0.00021979444) - float physics:mass = 0.403307 - quatf physics:principalAxes = (0.28865585, 0.29292926, 0.64668614, 0.64239186) - - over "link5" ( - instanceable = false - ) - { - over "link5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "gripper" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0000357064, 0.000249371, -0.0293133) - float3 physics:diagonalInertia = (0.00032441493, 0.00036975817, 0.00040968688) - float physics:mass = 0.553219 - quatf physics:principalAxes = (-0.47539636, 0.51992524, 0.4692717, 0.5324097) - - over "gripper" ( - instanceable = false - ) - { - over "gripper" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "tip_left" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - instanceable = false - ) - { - point3f physics:centerOfMass = (0.014584, -0.042586, -0.0228318) - float3 physics:diagonalInertia = (0.00002798623, 0.000059460494, 0.000061856874) - float physics:mass = 0.069657 - quatf physics:principalAxes = (-0.022927424, 0.4809619, 0.5792697, 0.65772074) - - over "tip_left" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - - over "tip_right" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - instanceable = false - ) - { - point3f physics:centerOfMass = (-0.014584, 0.042586, -0.0228318) - float3 physics:diagonalInertia = (0.00002798623, 0.000059460494, 0.000061856874) - float physics:mass = 0.069657 - quatf physics:principalAxes = (0.65772074, -0.5792697, 0.4809619, 0.022927424) - - over "tip_right" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexDecomposition" - } - } - } - } - } - } - } - } - } - } - } - - over "Physics" - { - def PhysicsFixedJoint "dof_joint0" ( - ) - { - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.5, -0.5, 0.49999815, -0.50000185) - quatf physics:localRot1 = (0, 0, -1, 0) - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 10 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.068, -6.80012e-16, -5.41234e-16) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -1, 0) - quatf physics:localRot1 = (0, 0, -1, 0) - float physics:lowerLimit = -149.99977 - float physics:upperLimit = 175.00021 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 10 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Y" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.0455, -0.0339, -0.02) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.0000013267949, -5.551115e-17, 5.551115e-17, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -2.2899976e-12 - float physics:upperLimit = 179.99985 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 10 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Y" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (4.08431e-7, -0.0688, 0.264) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.0000013267949, -8.326673e-17, -1.6653345e-16, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = 0 - float physics:upperLimit = 179.99985 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 5 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 400 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Y" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.0600003, -0.0688, -0.244999) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -90.00021 - float physics:upperLimit = 90.00021 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 2 - float drive:angular:physics:maxForce = 10 - float drive:angular:physics:stiffness = 200 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.0405003, 0.0338995, -0.0739989) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-2.7755576e-17, 0, -1, 0) - quatf physics:localRot1 = (0, 0, -1, 0) - float physics:lowerLimit = -90.00021 - float physics:upperLimit = 90.00021 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsRevoluteJoint "dof_joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 1 - float drive:angular:physics:maxForce = 10 - float drive:angular:physics:stiffness = 100 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (0.0404996, 2.39858e-7, -0.0356) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -120.00028 - float physics:upperLimit = 120.00028 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsPrismaticJoint "dof_joint7" ( - prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] - ) - { - float drive:linear:physics:damping = 10 - float drive:linear:physics:maxForce = 20 - float drive:linear:physics:stiffness = 200 - float drive:linear:physics:targetPosition = 0 - float drive:linear:physics:targetVelocity = 0 - uniform token drive:linear:physics:type = "force" - uniform token physics:axis = "Y" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.0239931, 0.0445119, -0.0566829) - point3f physics:localPos1 = (-0.00999321, 0.0914614, -0.129783) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, -8.129392e-23, 0, 0) - float physics:lowerLimit = -0.04695 - float physics:upperLimit = 0 - float state:linear:physics:position = 0 - float state:linear:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - - def PhysicsPrismaticJoint "dof_joint8" ( - prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"] - ) - { - float drive:linear:physics:damping = 10 - float drive:linear:physics:maxForce = 20 - float drive:linear:physics:stiffness = 200 - float drive:linear:physics:targetPosition = 0 - float drive:linear:physics:targetVelocity = 0 - uniform token drive:linear:physics:type = "force" - uniform token physics:axis = "Y" - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (0.0239931, -0.0445119, -0.0566829) - point3f physics:localPos1 = (0.0379932, 0.00133753, -0.129783) - quatf physics:localRot0 = (-6.8833828e-15, -1, 0, 0) - quatf physics:localRot1 = (6.86541e-15, 1, 0, 0) - float physics:lowerLimit = -0.04695 - float physics:upperLimit = 0 - float state:linear:physics:position = 0 - float state:linear:physics:velocity = 0 - custom float urdf:limit:effort = 1 - custom float urdf:limit:velocity = 1 - } - } -} diff --git a/i2rt_yam/payloads/Physics/physx.usda b/i2rt_yam/payloads/Physics/physx.usda deleted file mode 100644 index 482522f359734877e7b35906b88cf3719c0d204e..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/Physics/physx.usda +++ /dev/null @@ -1,93 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -over "urdf_top_assembly" -{ - over "Physics" - { - over "dof_joint0" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint7" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint8" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - } -} - diff --git a/i2rt_yam/payloads/base.usda b/i2rt_yam/payloads/base.usda deleted file mode 100644 index e7fc37d4958d4e12113cce8ff8816a3bee0c148f..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/base.usda +++ /dev/null @@ -1,208 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "urdf_top_assembly" ( - prepend apiSchemas = ["GeomModelAPI"] - assetInfo = { - string name = "urdf_top_assembly" - } - kind = "component" -) -{ - float3[] extentsHint = [(-0.10000017, -0.25744006, 2.1291411e-8), (0.1000001, 0.27549744, 0.2717016)] - - def Scope "Materials" - { - } - - def Scope "Geometry" - { - def Xform "root" - { - def Xform "base" - { - quatf xformOp:orient = (-0.49999815, 0.50000185, -0.5, -0.5) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.187501, -0.0464005, -0.0374966) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link1" - { - quatf xformOp:orient = (1, 0, 0, 0) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.068, -6.80012e-16, -5.41234e-16) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.119501, -0.0464, -0.0374968) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link2" - { - quatf xformOp:orient = (-0.0000013267949, 0, 0, 1) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0455, -0.0339, -0.02) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0740001, -0.08025, -0.0174977) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link3" - { - quatf xformOp:orient = (-0.0000013267949, 0, 0, 1) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (4.08431e-7, -0.0688, 0.264) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0740003, -0.0813, -0.281499) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link4" - { - quatf xformOp:orient = (1, 0, 0, 0) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0600003, -0.0688, -0.244999) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0140003, -0.0125, -0.0364989) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link5" - { - quatf xformOp:orient = (1, 0, 0, 0) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0405003, 0.0338995, -0.0739989) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0265, -0.0463995, 0.0375) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper" - { - quatf xformOp:orient = (1, 0, 0, 0) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0404996, 2.39858e-7, -0.0356) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "gripper" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.014, -0.0463995, 0.0731) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "tip_left" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.01399989, -0.0469495, 0.0731001) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "tip_right" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0140001, -0.04584943, 0.0731001) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - } - } - } - } - } - } - } - - def Scope "Physics" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/i2rt_yam/payloads/geometries.usd b/i2rt_yam/payloads/geometries.usd deleted file mode 100644 index a0bbafd78c8259d799baffc6b5ecd011bdb24894..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9ea8483402591417756e5740c084ae17d844de63995ef8026df7c4ff2756ce85 -size 1601117 diff --git a/i2rt_yam/payloads/instances.usda b/i2rt_yam/payloads/instances.usda deleted file mode 100644 index e8bff760f30a223ba3dd24dc2086dcd33c7b0fe7..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/instances.usda +++ /dev/null @@ -1,229 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "base" ( - prepend references = @./geometries.usd@ - ) - { - over "base" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0317647_0121569_0498039_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "link1" ( - prepend references = @./geometries.usd@ - ) - { - over "link1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0725490_0450980_0317647_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "link2" ( - prepend references = @./geometries.usd@ - ) - { - over "link2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0000000_0400000_0600000_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "link3" ( - prepend references = @./geometries.usd@ - ) - { - over "link3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0552941_0580392_0203922_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "link4" ( - prepend references = @./geometries.usd@ - ) - { - over "link4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0545098_0525490_0419608_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "link5" ( - prepend references = @./geometries.usd@ - ) - { - over "link5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0827451_0623529_0784314_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "gripper" ( - prepend references = @./geometries.usd@ - ) - { - over "gripper" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0109804_0286275_0011765_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "tip_left" ( - prepend references = @./geometries.usd@ - ) - { - over "tip_left" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0596078_0788235_0921569_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "tip_right" ( - prepend references = @./geometries.usd@ - ) - { - over "tip_right" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "tn__0596078_0788235_0921569_0000000_0000000_hw0AJSb0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } -} diff --git a/i2rt_yam/payloads/materials.usda b/i2rt_yam/payloads/materials.usda deleted file mode 100644 index 1eafaa2abdde69e42170bb133081304679d2d5ff..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/materials.usda +++ /dev/null @@ -1,135 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "tn__0317647_0121569_0498039_0000000_0000000_hw0AJSb0" - { - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token inputs:wrapMode = "repeat" - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - prepend token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "PreviewSurface" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - prepend color3f inputs:diffuseColor.connect = - prepend float inputs:metallic.connect = - prepend float inputs:opacity.connect = - prepend float inputs:roughness.connect = - token outputs:displacement - token outputs:surface - } - - def Shader "simready_mdl_surfaceshader" - { - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) - token outputs:out - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "tn__0000000_0400000_0600000_0000000_0000000_hw0AJSb0" - { - color3f inputs:diffuseColor = (0.5272073, 0.5272073, 0.5272073) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token inputs:wrapMode = "repeat" - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - prepend token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "PreviewSurface" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - prepend color3f inputs:diffuseColor.connect = - prepend float inputs:metallic.connect = - prepend float inputs:opacity.connect = - prepend float inputs:roughness.connect = - token outputs:displacement - token outputs:surface - } - - def Shader "simready_mdl_surfaceshader" - { - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) - token outputs:out - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/i2rt_yam/payloads/robot.usda b/i2rt_yam/payloads/robot.usda deleted file mode 100644 index 8fc285b300ab7a426a36fe3c9a0e8437db33bd24..0000000000000000000000000000000000000000 --- a/i2rt_yam/payloads/robot.usda +++ /dev/null @@ -1,157 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -over "urdf_top_assembly" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "Geometry" - { - over "root" - { - over "base" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "gripper" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "tip_left" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - } - - over "tip_right" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - } - } - } - } - } - } - } - } - } - } - - over "Physics" - { - over "dof_joint0" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint1" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint3" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint4" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint5" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint6" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint7" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "dof_joint8" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - } -} - diff --git a/i2rt_yam/runnables/physics/mujoco.usda b/i2rt_yam/runnables/physics/mujoco.usda deleted file mode 100644 index 4128019704b04dc20c7323e8c7107ccc4813bcfd..0000000000000000000000000000000000000000 --- a/i2rt_yam/runnables/physics/mujoco.usda +++ /dev/null @@ -1,299 +0,0 @@ -#usda 1.0 -( - defaultPrim = "urdf_top_assembly" -) - -def "urdf_top_assembly" -{ - over "Geometry" - { - over "root" - { - over "base" - { - over "link1" - { - over "link2" - { - over "link3" - { - over "link4" - { - over "link5" - { - over "gripper" - { - over "tip_left" - { - over "tip_left" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "tip_right" - { - over "tip_right" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "gripper" - { - over "gripper" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link5" - { - over "link5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link4" - { - over "link4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link3" - { - over "link3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link2" - { - over "link2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link1" - { - over "link1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "base" - { - over "base" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - } - - over "Physics" - { - over "dof_joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint7" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "dof_joint8" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -22918.31180523293, -572.9577951308232] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -22918.31180523293, -572.9577951308232] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -22918.31180523293, -572.9577951308232] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -22918.31180523293, -286.4788975654116] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -11459.155902616465, -114.59155902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 10 - double mjc:forceRange:min = -10 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -5729.5779513082325, -57.29577951308232] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 10 - double mjc:forceRange:min = -10 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint7" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -200, -10] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_urdf_top_assembly_Physics_dof_joint8" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -200, -10] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/i2rt_yam/runnables/physics/newton.usda b/i2rt_yam/runnables/physics/newton.usda deleted file mode 100644 index 5a839b07019dc838d7a703a33b6d0f2752e816bf..0000000000000000000000000000000000000000 --- a/i2rt_yam/runnables/physics/newton.usda +++ /dev/null @@ -1,120 +0,0 @@ -#usda 1.0 -( - defaultPrim = "urdf_top_assembly" -) - -over "urdf_top_assembly" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "Geometry" - { - over "root" - { - over "base" - { - over "link1" - { - over "link2" - { - over "link3" - { - over "link4" - { - over "link5" - { - over "gripper" - { - over "tip_left" - { - over "tip_left" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - - over "tip_right" - { - over "tip_right" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - - over "gripper" - { - over "gripper" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" - { - over "link5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" - { - over "link4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" - { - over "link3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" - { - over "link2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" - { - over "link1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - - over "base" - { - over "base" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"] - ) - { - } - } - } - } - } -} - diff --git a/i2rt_yam/runnables/physics/physx.usda b/i2rt_yam/runnables/physics/physx.usda deleted file mode 100644 index 622ab4711a80c7a65c064cfaf0f5acff43ab4b54..0000000000000000000000000000000000000000 --- a/i2rt_yam/runnables/physics/physx.usda +++ /dev/null @@ -1,93 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc - - -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd - - -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -over "urdf_top_assembly" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - - over "Physics" - { - over "dof_joint0" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint7" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - - over "dof_joint8" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 57.29578 - } - } -} diff --git a/i2rt_yam/yam.usda b/i2rt_yam/yam.usda deleted file mode 100644 index e9be0fa3e6f1c851e67a3178c9c61d5d6bc2ac07..0000000000000000000000000000000000000000 --- a/i2rt_yam/yam.usda +++ /dev/null @@ -1,1274 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/urdf_top_assembly" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/urdf_top_assembly" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/urdf_top_assembly" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.20000027, 0.5329375, 0.27170157) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "yam" - string asset_type = "robot" - string author = "I2RT" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 4.984509989619255 - string qcode = "Q40687" - int rigid_body_count = 9 - string source_file = "I2RT/yam/yam.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "urdf_top_assembly" - doc = """Generated from Composed Stage of root layer /tmp/tmp3aw5d8y4/urdf_top_assembly.usdc\r\r -\r\r -\r\r -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/usdex_yam/urdf_top_assembly.usdc\r\r -\r\r -\r\r -Generated from Composed Stage of root layer /tmp/urdf_import_yam_m298kv99/temp_yam/yam.usd\r\r -\r\r -\r\r -Generated from Composed Stage of root layer /home/stevfeng/Downloads/i2rt/i2rt/robot_models/arm/yam/yam_1/payloads/base.usd\r\r -""" - kilogramsPerUnit = 1 - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "urdf_top_assembly" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index d451f40aec82eab79e145513d99299e2e517cd54..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package-Candidate", - "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:05", - "assets": [ - { - "asset": "rs007l_onrobot_rg2.usda", - "features": [ - { - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP033_SimReadyPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP031_SelfContainedPackage.OpenUSD.0-1-0" - ] - } - } - ] - } - ], - "content_hash": { - "sha256": "1ca6186b0547234fd0a0425c74372b3ec59c7237abcc924ad87978527ae61476" - } -} diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json deleted file mode 100644 index 8299798042d5b9c93e93dea9482d3e4d8d582e92..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:08", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-2-0" - ] - } - } - ] - } - ] -} diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json deleted file mode 100644 index 2feb71a9d242c189d73e49ad93325f054c4b6839..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json +++ /dev/null @@ -1,167 +0,0 @@ -{ - "format_version": "1.0", - 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"unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "effort_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 33.907, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 7, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 3.1115485497458453, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.469, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 5.58, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.171, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "finger_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_failure_names": { - "value": [], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6081.0810546875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -2.356194496154785, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7258.064453125, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -2.740166664123535, - "runtime_upper": 2.740166664123535, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5487.8046875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -3.4906582832336426, - "runtime_upper": 3.4906582832336426, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.181661367416382, - "runtime_upper": 2.181661367416382, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 148.406, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 31.329166666666666, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 7519, - "planned_nominal_ticks_estimate": 7519, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 148.31299999996554, - "setup_elapsed_wall_seconds": 1.577999999979511, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3211.6870000000345, - "observed_service_seconds_per_nominal_tick": 0.019515228088839744, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 135.8860000006389, - "attempts": 7519 - }, - "captures": { - "wall_seconds": 1.6409999998286366, - "attempts": 53 - }, - "bounds": { - "wall_seconds": 3.281000000075437, - "attempts": 329 - }, - "camera": { - "wall_seconds": 0.4219999999040738, - "attempts": 6523 - }, - "optional_motion": { - "wall_seconds": 0.9409999998752028, - "attempts": 7339 - }, - "commands": { - "wall_seconds": 2.04500000027474, - "attempts": 7279 - }, - "encoding": { - "wall_seconds": 1.5939999999245629, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.1924708663507327, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": 0.0, - "observed_start": 0.0, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 6.457718232379019, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.020061513112386072 - }, - { - "joint": "joint1", - "segment": "to_min", - "requested_start": 2.5132741928100586, - "observed_start": 2.5132317543029785, - "ramp_seconds": 1.7125, - "velocity_hint_native_per_second": 6.457718232379019, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.021389962822944142 - }, - { - "joint": "joint1", - "segment": "to_zero", - "requested_start": -2.5132741928100586, - "observed_start": -2.5132312774658203, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 6.457718232379019, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.020061170552594376 - }, - { - "joint": "joint2", - "segment": "to_max", - "requested_start": 1.59741164740268e-09, - "observed_start": 1.59741164740268e-09, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 5.410520553588867, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.015046134440916643 - }, - { - "joint": "joint2", - "segment": "to_min", - "requested_start": 1.884955596923828, - "observed_start": 1.8849337100982666, - "ramp_seconds": 1.5583333333333333, - "velocity_hint_native_per_second": 5.410520553588867, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.019370599248240694 - }, - { - "joint": "joint2", - "segment": "to_zero", - "requested_start": -1.884955596923828, - "observed_start": -1.8849337100982666, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 5.410520553588867, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.015045959748185567 - }, - { - "joint": "joint3", - "segment": "to_max", - "requested_start": -2.3462519038730534e-07, - "observed_start": -2.3462519038730534e-07, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 7.155849933176751, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.017498097263997946 - }, - { - "joint": "joint3", - "segment": "to_min", - "requested_start": 2.192133331298828, - "observed_start": 2.1920881271362305, - "ramp_seconds": 1.4, - "velocity_hint_native_per_second": 7.155849933176751, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.027905118662836514 - }, - { - "joint": "joint3", - "segment": "to_zero", - "requested_start": -2.192133331298828, - "observed_start": -2.1920909881591797, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 7.155849933176751, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.017497757398849956 - }, - { - "joint": "joint4", - "segment": "to_max", - "requested_start": 1.6459706486671166e-08, - "observed_start": 1.6459706486671166e-08, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.020061512422738587 - }, - { - "joint": "joint4", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.5132317543029785, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.040122686912944516 - }, - { - "joint": "joint4", - "segment": "to_zero", - "requested_start": -2.5132741228718345, - "observed_start": -2.5132288932800293, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.02006115152141774 - }, - { - "joint": "joint5", - "segment": "to_max", - "requested_start": 1.8145086821963474e-10, - "observed_start": 1.8145086821963474e-10, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - 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"unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 6.457718232379019, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 283, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.356194496154785, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 5.410520553588867, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 274, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.740166664123535, - "runtime_upper": 2.740166664123535, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 7.155849933176751, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 261, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.4906582832336426, - "runtime_upper": 3.4906582832336426, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 252, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - 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}, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 17.453292846679688, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - 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}, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 259, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.5, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS007L/rs007l_onrobot_rg2/simready_usd/rs007l_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 4.329, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS007L/rs007l_onrobot_rg2/simready_usd/rs007l_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 59.157, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 7, - 8, - 9, - 10, - 11 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - "jik_robot_reach": { - "value": 0.8304, - "unit": null - }, - "jik_target_radius": { - "value": 0.7474, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - 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"formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_002.json", - "csv": "motion_history/mim_reference_002.csv" - }, - "unit": null - }, - "motion_history_mim_follower_002": { - "value": { - "schema_version": 1, - "name": "mim_follower_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_002.json", - "csv": "motion_history/mim_follower_002.csv" - }, - "unit": null - }, - "motion_history_mim_reference_003": { - "value": { - "schema_version": 1, - "name": "mim_reference_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_003.json", - "csv": "motion_history/mim_reference_003.csv" - }, - "unit": null - }, - "motion_history_mim_follower_003": { - "value": { - "schema_version": 1, - "name": "mim_follower_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_003.json", - "csv": "motion_history/mim_follower_003.csv" - }, - "unit": null - }, - "motion_history_mim_reference_004": { - "value": { - "schema_version": 1, - "name": "mim_reference_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_004.json", - "csv": "motion_history/mim_reference_004.csv" - }, - "unit": null - }, - "motion_history_mim_follower_004": { - "value": { - "schema_version": 1, - "name": "mim_follower_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_004.json", - "csv": "motion_history/mim_follower_004.csv" - }, - "unit": null - }, - "motion_history_mim_reference_005": { - "value": { - "schema_version": 1, - "name": "mim_reference_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_005.json", - "csv": "motion_history/mim_reference_005.csv" - }, - "unit": null - }, - "motion_history_mim_follower_005": { - "value": { - "schema_version": 1, - "name": "mim_follower_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_005.json", - "csv": "motion_history/mim_follower_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 32.516, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 12, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.0053096771240235, - "velocity_hint": 6.457718232379019, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - 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"joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 177, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.453, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.688, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 98.29, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.594, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 16, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.313, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 3.1115485497458453, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.454, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 15, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 30.27, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.625, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6081.0810546875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 46, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7258.064453125, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 42, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5487.8046875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 38, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 26, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 40, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/rs007l_onrobot_rg2_validation.json b/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/rs007l_onrobot_rg2_validation.json deleted file mode 100644 index b9b63d60cb847295ec2be0899805933d79b37ff9..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/.metadata/rs007l_onrobot_rg2_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/rs007l_onrobot_rg2.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - 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}, - "package_hash": { - "sha256": "8aaeeb0bb236cef40bbd2e621fc70a2a6bc54b6ee0d957786035906539d1feeb" - } -} diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBRBase.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/aux_definitions.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/core_definitions.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/license.txt b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/support_definitions.mdl b/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/mujoco.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/mujoco.usda deleted file mode 100644 index a70bef1df1da230d291cbfdca0a1fb0f1d1113a8..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007l" -{ - over "world" - { - over "world2base" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "rs007l2rg2" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg2_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "gripper_center_joint" - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physics.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physics.usda deleted file mode 100644 index 0a75df446a50338e36eaadc41516618aa8719029..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physics.usda +++ /dev/null @@ -1,627 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "khi_rs007l" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "world2base" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 11 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.36) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 8.188 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -135 - float physics:upperLimit = 135 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 6.826 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.455, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -156.99998 - float physics:upperLimit = 156.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 5.236 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.0925, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -199.99998 - float physics:upperLimit = 199.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 5.066 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.3825) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -124.99999 - float physics:upperLimit = 124.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 1.625 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.078, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 0.625 - - def PhysicsFixedJoint "rs007l2rg2" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsFixedJoint "gripper_center_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.24) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physx.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physx.usda deleted file mode 100644 index ff56c54e6eaff9fa7450d8e122d019cdda2c044c..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/Physics/physx.usda +++ /dev/null @@ -1,234 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007l" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" ( - ) - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 370 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 310 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 410 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 1000 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/base.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/base.usda deleted file mode 100644 index 71379edad5f5d1b439d8e04e6f12b83b6802b617..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/base.usda +++ /dev/null @@ -1,467 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs007l" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.35999995470046997) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.35999995470046997) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-5.960464477539063e-8, 0, 0.8149999380111694) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-7.078051567077637e-8, 0, 0.9074999094009399) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.3824999928) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.3824999928) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.4999999403953552, -0.4999999403953552, -0.4999999403953552, -0.4999999403953552) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-7.078051567077637e-8, 0, 1.2899997234344482) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-8.568167686462402e-8, 0, 1.3679996728897095) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg2_base_link" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-8.568167686462402e-8, 0, 1.3679996728897095) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper_center" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-8.568167686462402e-8, 0, 1.607999563217163) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.017178082838654518, 3.0716660326390866e-9, 1.4937965869903564) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.05677007883787155, 1.0151268270419678e-8, 1.5319736003875732) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00767808360978961, 1.372933322585368e-9, 1.5102965831756592) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.7071067690849304, 0, 0, -0.7071066498756409) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.007677912246435881, -1.372933322585368e-9, 1.5102965831756592) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.01717791147530079, -3.0716660326390866e-9, 1.4937965869903564) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.05676990747451782, 1.1087537998832886e-8, 1.5319736003875732) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/geometries.usd b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/geometries.usd deleted file mode 100644 index 9954deae922f3dfa633689711e026b068f69f76f..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:a6dbcab2d895501db66610b616ba119ef9aee3c08e87476b53dd7280593fce76 -size 4992372 diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda deleted file mode 100644 index 180b6f4273a8699f8582f1e604565d1ebebca024..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/instances.usda +++ /dev/null @@ -1,597 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_Black" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda deleted file mode 100644 index c53c57af2a52e0f3b71fd7ecf09f39f7ac412971..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/materials.usda +++ /dev/null @@ -1,246 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/robot.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/robot.usda deleted file mode 100644 index 019d33366c7b393dd1ece9e4196736bffa6972a0..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/payloads/robot.usda +++ /dev/null @@ -1,430 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007l" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "world2base" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "rs007l2rg2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center" - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda deleted file mode 100644 index deb0752a6104ff878493378e8cffc615d39fe675..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda +++ /dev/null @@ -1,1436 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/khi_rs007l" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/khi_rs007l" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/khi_rs007l" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.38110003, 0.31868294, 1.5847722) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "rs007l_onrobot_rg2" - string asset_type = "robot" - string author = "Kawasaki" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 39.56599997729063 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Kawasaki/RS007L/rs007l_onrobot_rg2/rs007l_onrobot_rg2.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs007l" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "gripper_center" - { - matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -1.3234889800848443e-23, 0.2399998903274536, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "gripper_center_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/mujoco.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/mujoco.usda deleted file mode 100644 index ec3101352518dfcc6e02b275c55e45a63b751782..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/mujoco.usda +++ /dev/null @@ -1,445 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs007l" -) - -def "khi_rs007l" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_khi_rs007l_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_onrobot_rg2_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_onrobot_rg2_base_link_left_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_onrobot_rg2_base_link_right_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_onrobot_rg2_base_link_right_outer_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_left_outer_knuckle_left_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007l_right_outer_knuckle_right_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/newton.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/newton.usda deleted file mode 100644 index c90cf1b5793e1b7ecaf91abbd8a8df86cffb724a..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/newton.usda +++ /dev/null @@ -1,340 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs007l" -) - -over "khi_rs007l" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "world2base" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6081.081 - float newton:damping = 202.7027 - float newton:velocityLimit = 370 - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 7258.0645 - float newton:damping = 241.93549 - float newton:velocityLimit = 310 - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 5487.8047 - float newton:damping = 182.92683 - float newton:velocityLimit = 410 - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4090.9092 - float newton:damping = 136.36363 - float newton:velocityLimit = 550 - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 6.818182 - float newton:damping = 0.227273 - float newton:velocityLimit = 550 - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 3.75 - float newton:damping = 0.125 - float newton:velocityLimit = 1000 - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 6.545 - float newton:damping = 0.218166 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda deleted file mode 100644 index 8af95e77266cd7b25e1c12cc27b613b24d8bc07b..0000000000000000000000000000000000000000 --- a/kawasaki_rs007l_rs007l_onrobot_rg2/runnables/physics/physx.usda +++ /dev/null @@ -1,384 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007l" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007l" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 370 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 310 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 410 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 1000 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 7c90d6368e3eff7448c03ff465cdf6e9383c68d3..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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}, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.181661367416382, - "runtime_upper": 2.181661367416382, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - 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"name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 123.375, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 30.625, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 7350, - "planned_nominal_ticks_estimate": 7350, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 123.28099999995902, - "setup_elapsed_wall_seconds": 1.484000000054948, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3236.719000000041, - "observed_service_seconds_per_nominal_tick": 0.016571020408150214, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 112.4750000005588, - "attempts": 7350 - }, - "captures": { - "wall_seconds": 1.422000000020489, - "attempts": 53 - }, - "bounds": { - "wall_seconds": 2.3470000000670552, - "attempts": 320 - }, - "camera": { - "wall_seconds": 0.43799999996554106, - "attempts": 6354 - }, - "optional_motion": { - "wall_seconds": 1.1080000000074506, - "attempts": 7170 - }, - "commands": { - "wall_seconds": 1.694999999483116, - "attempts": 7110 - }, - "encoding": { - "wall_seconds": 1.4219999999040738, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.1681655727466596, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": 0.0, - "observed_start": 0.0, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 8.203047752380371, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.020061513112386072 - }, - { - "joint": "joint1", - "segment": "to_min", - "requested_start": 2.5132741928100586, - "observed_start": 2.5132317543029785, - "ramp_seconds": 1.4, - "velocity_hint_native_per_second": 8.203047752380371, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - 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"value": 0, - "unit": null - }, - "frs_segment_timing_omitted": { - "value": 0, - "unit": null - }, - "frs_joints_passed": { - "value": 7, - "unit": null - }, - "frs_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_frs_joint_001": { - "value": { - "schema_version": 1, - "name": "frs_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 8.203047752380371, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4787.23388671875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 263, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.356194496154785, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 6.632251262664795, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5921.052734375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 258, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.7052600383758545, - "runtime_upper": 2.7052600383758545, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 9.075712203979492, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4326.92333984375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.4906582832336426, - "runtime_upper": 3.4906582832336426, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.181661367416382, - "runtime_upper": 2.181661367416382, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 17.453292846679688, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 259, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 6.531, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS007N/rs007n_onrobot_rg2/simready_usd/rs007n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 6.203, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS007N/rs007n_onrobot_rg2/simready_usd/rs007n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 65.906, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 7, - 8, - 9, - 10, - 11 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - "jik_robot_reach": { - "value": 0.7356, - "unit": null - }, - "jik_target_radius": { - "value": 0.662, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - 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}, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "finger_joint", - "authored_joint_name": "finger_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.672, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 20.301, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 676.7, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.5, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.932236, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.021107, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.672, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 20.301, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 676.7, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.5, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.932236, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.021107, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.282, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.922, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 784.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 18976, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.282, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.922, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 784.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 18976, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 61.125, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 5, - "unit": null - }, - "mim_skipped_pairs": { - "value": 0, - "unit": null - }, - "mimic_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.219, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 60.95, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.031, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_max_error_rad": { - "value": 0.0343952514231205, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_mean_error_rad": { - "value": 0.0016880969002765294, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_ref_swept_rad": { - "value": 1.068632960319519, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_observed_rad": { - "value": 1.0728042721748352, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_expected_rad": { - "value": 1.068632960319519, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_motion_ratio": { - "value": 1.003903409318452, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_gear_ratio_error": { - "value": 0.0039034093184520113, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.0343952514231205, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_rest_residual_rad": { - "value": 0.0, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_max_error_rad": { - "value": 0.0013711154460906982, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_mean_error_rad": { - "value": 0.0007638056025219461, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_follower_observed_rad": { - "value": 1.073987364768982, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_motion_ratio": { - "value": 1.000508263353768, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_gear_ratio_error": { - "value": 0.0005082633537680792, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.0011166632175445557, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_rest_residual_rad": { - "value": 0.0002544522285461426, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_max_error_rad": { - "value": 0.0019429177045822144, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_mean_error_rad": { - "value": 0.0012943468730857906, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_observed_rad": { - "value": 1.0736863613128662, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_expected_rad": { - "value": 1.0734417736530304, - 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"value": 1.0744177401065826, - "unit": null - }, - "mim_pair_right_inner_finger_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_finger_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_inner_finger_joint_motion_ratio": { - "value": 1.0009091936586658, - "unit": null - }, - "mim_pair_right_inner_finger_joint_gear_ratio_error": { - "value": 0.0009091936586658189, - "unit": null - }, - "mim_pair_right_inner_finger_joint_abs_formula_max_error_rad": { - "value": 0.0006275177001953125, - "unit": null - }, - "mim_pair_right_inner_finger_joint_rest_residual_rad": { - "value": 0.0004965066909790039, - "unit": null - }, - "mim_pairs_passed": { - "value": 5, - "unit": null - }, - "mim_pairs_failed": { - "value": 0, - "unit": null - }, - "motion_history_mim_reference_001": { - "value": { - "schema_version": 1, - "name": "mim_reference_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - 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"dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_002.json", - "csv": "motion_history/mim_reference_002.csv" - }, - "unit": null - }, - "motion_history_mim_follower_002": { - "value": { - "schema_version": 1, - "name": "mim_follower_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - 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"encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_003.json", - "csv": "motion_history/mim_reference_003.csv" - }, - "unit": null - }, - "motion_history_mim_follower_003": { - "value": { - "schema_version": 1, - "name": "mim_follower_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - 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}, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_002.json", - "csv": "motion_history/mim_follower_002.csv" - }, - "unit": null - }, - "motion_history_mim_reference_003": { - "value": { - "schema_version": 1, - "name": "mim_reference_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_003.json", - "csv": "motion_history/mim_reference_003.csv" - }, - "unit": null - }, - "motion_history_mim_follower_003": { - "value": { - "schema_version": 1, - "name": "mim_follower_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": -1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_003.json", - "csv": "motion_history/mim_follower_003.csv" - }, - "unit": null - }, - "motion_history_mim_reference_004": { - "value": { - "schema_version": 1, - "name": "mim_reference_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_004.json", - "csv": "motion_history/mim_reference_004.csv" - }, - "unit": null - }, - "motion_history_mim_follower_004": { - "value": { - "schema_version": 1, - "name": "mim_follower_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_004.json", - "csv": "motion_history/mim_follower_004.csv" - }, - "unit": null - }, - "motion_history_mim_reference_005": { - "value": { - "schema_version": 1, - "name": "mim_reference_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_005.json", - "csv": "motion_history/mim_reference_005.csv" - }, - "unit": null - }, - "motion_history_mim_follower_005": { - "value": { - "schema_version": 1, - "name": "mim_follower_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_005.json", - "csv": "motion_history/mim_follower_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 39.015, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 12, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.0053096771240235, - "velocity_hint": 8.203047752380371, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7539822578430176, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003137229417761167 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.7539822387695312, - "velocity_hint": 6.632251157578453, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5654866790771484, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002352922003799014 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.8656832122802736, - "velocity_hint": 9.075712110370514, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.6492624092102052, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0027015027327669996 - }, - { - "name": "joint4", - "index": 3, - "displacement": 1.1170106506347657, - "velocity_hint": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.8377579879760743, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003485810146729151 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.6981316375732423, - "velocity_hint": 9.599310874938965, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5235987281799317, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002178631282183859 - }, - { - "name": "joint6", - "index": 5, - "displacement": 2.010619354248047, - "velocity_hint": 17.453292519943297, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - 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"physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - 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"json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 177, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.219, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.626, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 89.43, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.469, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 200000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 16, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 9, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.406, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.7254507946068736, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.484, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 15, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 32.27, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.172, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4787.23388671875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5921.052734375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 37, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4326.92333984375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 34, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4090.9091796875, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 38, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.818181991577148, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 26, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.75, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 40, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/rs007n_onrobot_rg2_validation.json b/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/rs007n_onrobot_rg2_validation.json deleted file mode 100644 index 0894d5f55992945ed6fd70f6f013c8151fb9fbbb..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/.metadata/rs007n_onrobot_rg2_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/rs007n_onrobot_rg2.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - 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}, - "package_hash": { - "sha256": "603e96b814d22a74fd484f81acfa5edb27f199e0809ee93bd127bf8f0b103cdc" - } -} diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/aux_definitions.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/core_definitions.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/license.txt b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/support_definitions.mdl b/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/mujoco.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/mujoco.usda deleted file mode 100644 index fefa08a341acf7c7753771b5577c9fe492c78511..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007n" -{ - over "world" - { - over "world2base" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "rs007n2rg2" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg2_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "gripper_center_joint" - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physics.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physics.usda deleted file mode 100644 index 7800514355abd409ca273c786aa82079e7de50a2..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physics.usda +++ /dev/null @@ -1,627 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "khi_rs007n" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "world2base" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 11 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.36) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 8.188 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -135 - float physics:upperLimit = 135 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 5.842 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.355, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -154.99998 - float physics:upperLimit = 154.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 5.236 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.0925, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -199.99998 - float physics:upperLimit = 199.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 4.461 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.2825) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -124.99999 - float physics:upperLimit = 124.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 1.625 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 200000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.078, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 0.625 - - def PhysicsFixedJoint "rs007n2rg2" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsFixedJoint "gripper_center_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.2) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physx.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physx.usda deleted file mode 100644 index 3b413c0126b2eca14cab6ae7b37f7cb2d4f054e7..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/Physics/physx.usda +++ /dev/null @@ -1,234 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" ( - ) - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 470.00003 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 380 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 520 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 1000 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/base.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/base.usda deleted file mode 100644 index d34658feefa8633fe9417a7eb5ef128166ea44ab..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/base.usda +++ /dev/null @@ -1,467 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs007n" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.35999995470046997) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.35999995470046997) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-4.470348358154297e-8, 0, 0.7149999141693115) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-5.587935447692871e-8, 0, 0.807499885559082) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2824999988) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2824999988) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.4999999403953552, -0.4999999403953552, -0.4999999403953552, -0.4999999403953552) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-5.587935447692871e-8, 0, 1.089999794960022) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-7.078051567077637e-8, 0, 1.1679997444152832) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg2_base_link" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-7.078051567077637e-8, 0, 1.1679997444152832) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper_center" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-7.078051567077637e-8, 0, 1.3679996728897095) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.017178067937493324, 3.0716660326390866e-9, 1.2937966585159302) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.05677006393671036, 1.0151268270419678e-8, 1.331973671913147) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.007678068708628416, 1.372933322585368e-9, 1.310296654701233) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.7071067690849304, 0, 0, -0.7071066498756409) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0076779271475970745, -1.372933322585368e-9, 1.310296654701233) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.017177926376461983, -3.0716660326390866e-9, 1.2937966585159302) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.056769922375679016, 1.1087537998832886e-8, 1.331973671913147) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/geometries.usd b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/geometries.usd deleted file mode 100644 index 9ff464af577259882aa903fb9d99c2c90dba7c0f..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f7d839b926eb2a52a14746851ea11d8a1f0cd6533f49f6b8d0aaea80aa40ab7c -size 5091487 diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda deleted file mode 100644 index 180b6f4273a8699f8582f1e604565d1ebebca024..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/instances.usda +++ /dev/null @@ -1,597 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_Black" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda deleted file mode 100644 index 8a78008ea5742087a1234ed8b426780a63360dce..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/materials.usda +++ /dev/null @@ -1,246 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/robot.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/robot.usda deleted file mode 100644 index 30e9ec9bc944bc00d7423d61640ad1e5438294c6..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/payloads/robot.usda +++ /dev/null @@ -1,418 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007n" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "world2base" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "rs007n2rg2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center" - { - string isaac:nameOverride - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda deleted file mode 100644 index 2db705b449c9a1f03ce5f30e358cb298f6d4ed72..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda +++ /dev/null @@ -1,1436 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/khi_rs007n" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/khi_rs007n" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/khi_rs007n" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.38110003, 0.31865406, 1.3847723) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "rs007n_onrobot_rg2" - string asset_type = "robot" - string author = "Kawasaki" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 37.97699975222349 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Kawasaki/RS007N/rs007n_onrobot_rg2/rs007n_onrobot_rg2.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs007n" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "gripper_center" - { - matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0.19999992847442627, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "gripper_center_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/mujoco.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/mujoco.usda deleted file mode 100644 index 5f77fa1f4ff9c0a3316bee6b82f684250fe0cd67..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/mujoco.usda +++ /dev/null @@ -1,445 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs007n" -) - -def "khi_rs007n" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_khi_rs007n_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -11459155.902616465] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_onrobot_rg2_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_onrobot_rg2_base_link_left_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_onrobot_rg2_base_link_right_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_onrobot_rg2_base_link_right_outer_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_left_outer_knuckle_left_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs007n_right_outer_knuckle_right_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/newton.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/newton.usda deleted file mode 100644 index 92ecb4706b7ecb8ad76c0b5931282c39bbf977e8..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/newton.usda +++ /dev/null @@ -1,340 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs007n" -) - -over "khi_rs007n" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "world2base" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4787.234 - float newton:damping = 159.57446 - float newton:velocityLimit = 470.00003 - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 5921.0527 - float newton:damping = 197.36842 - float newton:velocityLimit = 380 - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4326.9233 - float newton:damping = 144.23077 - float newton:velocityLimit = 520 - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4090.9092 - float newton:damping = 136.36363 - float newton:velocityLimit = 550 - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 6.818182 - float newton:damping = 0.227273 - float newton:velocityLimit = 550 - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 3.75 - float newton:damping = 0.125 - float newton:velocityLimit = 1000 - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 6.545 - float newton:damping = 0.218166 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda deleted file mode 100644 index 42de95e33e42d291c1a03e5bf3db039ed250cfc1..0000000000000000000000000000000000000000 --- a/kawasaki_rs007n_rs007n_onrobot_rg2/runnables/physics/physx.usda +++ /dev/null @@ -1,384 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs007n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs007n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 470.00003 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 380 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 520 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 550 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 1000 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 71d7b61010f0251737530b9bd0a67d5f70fb1d6e..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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"value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.343, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.158, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 165.43, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.828, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 16120, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 16296, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.0711, - 0.071, - 0.071 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.000124, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.343, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.158, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 165.43, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.828, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 16120, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 16296, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.0711, - 0.071, - 0.071 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.000124, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "drive_gain_validation", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 14.828, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 12, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.906, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 75.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.766, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 12, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 12, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 33, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 37, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_007": { - "value": { - "schema_version": 1, - "name": "dgv_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_008": { - "value": { - "schema_version": 1, - "name": "dgv_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_008.json", - "csv": "motion_history/dgv_joint_008.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_009": { - "value": { - "schema_version": 1, - "name": "dgv_joint_009", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_009.json", - "csv": "motion_history/dgv_joint_009.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_010": { - "value": { - "schema_version": 1, - "name": "dgv_joint_010", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_010.json", - "csv": "motion_history/dgv_joint_010.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_011": { - "value": { - "schema_version": 1, - "name": "dgv_joint_011", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_011.json", - "csv": "motion_history/dgv_joint_011.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_012": { - "value": { - "schema_version": 1, - "name": "dgv_joint_012", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_012.json", - "csv": "motion_history/dgv_joint_012.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 13.297, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 7, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 4.374047784608942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 56.63, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.438, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987756445183, - "start": 4.6219490040799727e-11, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 84, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 9000.0, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235986084872165, - "start": -1.671110823053823e-07, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 85, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235988449505099, - "start": 6.935221108506084e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 84, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4736.84228515625, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755981946, - "start": -1.0419824589746537e-13, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 73, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 15.789473533630371, - "damping": 0.0, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.523598783745801, - "start": 8.147502228439407e-09, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 69, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.27397346496582, - "damping": 0.0, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755979604, - "start": -3.38450188014372e-13, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 63, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_007": { - "value": { - "schema_version": 1, - "name": "dgv_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.523576611141476, - "start": -2.2164456822793e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 184, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 88.079, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 7, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "finger_joint", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "direction": "-XZ", - "world_com": [ - -0.01729278266429901, - -6.407499313354492e-07, - 2.1687958240509033 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.33, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 15.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.734, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "finger_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -1.8325955867767334, - "runtime_upper": 2.4085540771484375, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -2.775073289871216, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -3.4906582832336426, - "runtime_upper": 3.4906582832336426, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.181661367416382, - "runtime_upper": 2.181661367416382, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "effort_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 36.406, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 7, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 4.374047784608942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.592, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 7.05, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.156, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "finger_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_failure_names": { - "value": [], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -1.8325955867767334, - "runtime_upper": 2.4085540771484375, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 9000.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -2.775073289871216, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -3.4906582832336426, - "runtime_upper": 3.4906582832336426, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4736.84228515625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.181661367416382, - "runtime_upper": 2.181661367416382, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 15.789473533630371, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.27397346496582, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 182.079, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 32.75416666666667, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 7861, - "planned_nominal_ticks_estimate": 7861, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 181.90700000000652, - "setup_elapsed_wall_seconds": 1.9540000000270084, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3178.0929999999935, - "observed_service_seconds_per_nominal_tick": 0.02289187126319546, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 165.59200000041164, - "attempts": 7861 - }, - "captures": { - "wall_seconds": 2.234000000054948, - "attempts": 59 - }, - "bounds": { - "wall_seconds": 4.429999999934807, - "attempts": 348 - }, - "camera": { - "wall_seconds": 0.6670000000158325, - "attempts": 6865 - }, - "optional_motion": { - "wall_seconds": 1.3619999998481944, - "attempts": 7687 - }, - "commands": { - "wall_seconds": 2.355999999679625, - "attempts": 7621 - }, - "encoding": { - "wall_seconds": 2.125, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.5344013894778132, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": 0.0, - "observed_start": 0.0, - "ramp_seconds": 1.2708333333333333, - "velocity_hint_native_per_second": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.019409858662303544 - }, - { - "joint": "joint1", - "segment": "to_min", - "requested_start": 2.5132741928100586, - "observed_start": 2.5132522583007812, - "ramp_seconds": 2.2916666666666665, - "velocity_hint_native_per_second": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - 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"message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 2.266, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS013N/rs013n_onrobot_rg2/simready_usd/rs013n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 5.765, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS013N/rs013n_onrobot_rg2/simready_usd/rs013n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 63.453, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 7, - 8, - 9, - 10, - 11 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - "jik_robot_reach": { - "value": 1.1814, - "unit": null - }, - "jik_target_radius": { - "value": 1.0633, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - 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}, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "finger_joint", - "authored_joint_name": "finger_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.813, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.437, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 281.23, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.75, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.793103, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 23, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.939722, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.019199, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.813, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.437, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 281.23, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.75, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.793103, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 23, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.939722, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.019199, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 26.156, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.842, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 568.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 16159, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 26.156, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.842, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 568.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 16159, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 60.172, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 5, - "unit": null - }, - "mim_skipped_pairs": { - "value": 0, - "unit": null - }, - "mimic_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.094, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 54.7, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.031, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_max_error_rad": { - "value": 0.034409161657094955, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_mean_error_rad": { - "value": 0.0016852587796165608, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_ref_swept_rad": { - "value": 1.0689617395401, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_observed_rad": { - "value": 1.0728924870491028, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_expected_rad": { - "value": 1.0689617395401, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_motion_ratio": { - "value": 1.0036771638905373, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_gear_ratio_error": { - "value": 0.003677163890537294, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.034409161657094955, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_rest_residual_rad": { - "value": 0.0, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_max_error_rad": { - "value": 0.0013776719570159912, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_mean_error_rad": { - "value": 0.000767517126708602, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_follower_observed_rad": { - "value": 1.0739829540252686, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_motion_ratio": { - "value": 1.0005041543803503, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_gear_ratio_error": { - "value": 0.0005041543803503412, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.0011246800422668457, - "unit": null - }, - "mim_pair_right_inner_knuckle_joint_rest_residual_rad": { - "value": 0.0002529919147491455, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_max_error_rad": { - "value": 0.001931115984916687, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_mean_error_rad": { - "value": 0.0012875556058133952, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_observed_rad": { - "value": 1.0736909806728363, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_motion_ratio": { - "value": 1.0002321569980994, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_gear_ratio_error": { - "value": 0.0002321569980994198, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_abs_formula_max_error_rad": { - "value": 0.001948092132806778, - "unit": null - }, - "mim_pair_right_outer_knuckle_joint_rest_residual_rad": { - "value": 3.534555435180664e-05, - "unit": null - }, - "mim_pair_left_inner_finger_joint_max_error_rad": { - "value": 0.00012409687042236328, - "unit": null - }, - "mim_pair_left_inner_finger_joint_mean_error_rad": { - "value": 6.697190110571682e-05, - "unit": null - }, - "mim_pair_left_inner_finger_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_left_inner_finger_joint_follower_observed_rad": { - "value": 1.0734896659851074, - "unit": null - }, - "mim_pair_left_inner_finger_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_left_inner_finger_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_left_inner_finger_joint_motion_ratio": { - "value": 1.0000446156775826, - "unit": null - }, - "mim_pair_left_inner_finger_joint_gear_ratio_error": { - "value": 4.4615677582626745e-05, - "unit": null - }, - "mim_pair_left_inner_finger_joint_abs_formula_max_error_rad": { - "value": 0.00010412931442260742, - "unit": null - }, - "mim_pair_left_inner_finger_joint_rest_residual_rad": { - "value": 1.996755599975586e-05, - "unit": null - }, - "mim_pair_right_inner_finger_joint_max_error_rad": { - "value": 0.001117110252380371, - "unit": null - }, - "mim_pair_right_inner_finger_joint_mean_error_rad": { - "value": 0.0005419902590801939, - "unit": null - }, - "mim_pair_right_inner_finger_joint_ref_swept_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_finger_joint_follower_observed_rad": { - "value": 1.0744143426418304, - "unit": null - }, - "mim_pair_right_inner_finger_joint_follower_expected_rad": { - "value": 1.0734417736530304, - "unit": null - }, - "mim_pair_right_inner_finger_joint_dir_matches_gear": { - "value": 1, - "unit": null - }, - "mim_pair_right_inner_finger_joint_motion_ratio": { - "value": 1.0009060286386007, - "unit": null - }, - "mim_pair_right_inner_finger_joint_gear_ratio_error": { - "value": 0.0009060286386006755, - "unit": null - }, - "mim_pair_right_inner_finger_joint_abs_formula_max_error_rad": { - "value": 0.0006248205900192261, - "unit": null - }, - "mim_pair_right_inner_finger_joint_rest_residual_rad": { - "value": 0.0004956722259521484, - "unit": null - }, - "mim_pairs_passed": { - "value": 5, - "unit": null - }, - "mim_pairs_failed": { - "value": 0, - "unit": null - }, - "motion_history_mim_reference_001": { - "value": { - "schema_version": 1, - "name": "mim_reference_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_001.json", - "csv": "motion_history/mim_reference_001.csv" - }, - "unit": null - }, - "motion_history_mim_follower_001": { - "value": { - "schema_version": 1, - "name": "mim_follower_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_005.json", - "csv": "motion_history/mim_reference_005.csv" - }, - "unit": null - }, - "motion_history_mim_follower_005": { - "value": { - "schema_version": 1, - "name": "mim_follower_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_005.json", - "csv": "motion_history/mim_follower_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 37.641, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 12, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.0053096771240235, - "velocity_hint": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7539822578430176, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003137229417761167 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.3906047010421754, - "velocity_hint": 4.363323129985824, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.29295352578163153, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001218944357852969 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.0304422426223756, - "velocity_hint": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7728316819667818, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003215659602627986 - }, - { - "name": "joint4", - "index": 3, - "displacement": 1.1170106506347657, - "velocity_hint": 8.290313720703125, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.8377579879760743, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003485810146729151 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.6981316375732423, - "velocity_hint": 8.290313720703125, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5235987281799317, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002178631282183859 - }, - { - "name": "joint6", - "index": 5, - "displacement": 2.010619354248047, - "velocity_hint": 12.740903539558605, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.5079645156860353, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274458835522334 - }, - { - "name": "finger_joint", - "index": 6, - "displacement": 0.10157795786857604, - "velocity_hint": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.07618346840143203, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0003169902417860511 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 457 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.499627876281738, - "velocity_hint": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.1247209072113036, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0046798283118310025 - }, - { - "name": "joint2", - "index": 1, - "displacement": 1.0146363806724548, - "velocity_hint": 4.363323129985824, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7609772855043411, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003166334885871258 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.2229591035842895, - "velocity_hint": 4.625122517784973, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9172193276882171, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003816439216492995 - }, - { - "name": "joint4", - "index": 3, - "displacement": 1.6662539529800413, - "velocity_hint": 8.290313720703125, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 1.249690464735031, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.005199811598046722 - }, - { - "name": "joint5", - "index": 4, - "displacement": 1.0414083385467527, - "velocity_hint": 8.290313720703125, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.7810562539100645, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003249881056479609 - }, - { - "name": "joint6", - "index": 5, - "displacement": 2.9992564678192135, - "velocity_hint": 12.740903539558605, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.24944235086441, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.009359658855743191 - }, - { - "name": "finger_joint", - "index": 6, - "displacement": 0.3216943618655205, - "velocity_hint": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - 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"coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 445 - } - ], - "unit": null - }, - "mjc_timing_iterations_omitted": { - "value": 0, - "unit": null - }, - "mjc_completed_nominal_ticks": { - "value": 1604, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.859, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 71.58, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -1.0053096771240235, - "final_position": -0.9969730377197266, - "final_error": 0.008336639404296964, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.3906047010421754, - "final_position": -0.3873651623725891, - "final_error": 0.0032395386695862616, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -1.0304422426223756, - "final_position": -1.0218970775604248, - "final_error": 0.008545165061950799, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -1.1170106506347657, - "final_position": -1.1077486276626587, - "final_error": 0.009262022972106987, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": -0.6981316375732423, - "final_position": -0.6923425197601318, - "final_error": 0.005789117813110423, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": -2.010619354248047, - "final_position": -1.9939467906951904, - "final_error": 0.016672563552856623, - "entered_tolerance": true - }, - { - "name": "finger_joint", - "target": -0.10157795786857604, - "final_position": -0.1007356271147728, - "final_error": 0.0008423307538032443, - 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}, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - 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"final_error": 0.016468560695647838, - "entered_tolerance": true - }, - { - "joint": "finger_joint", - "target": 0.22095873475074768, - "final_position": 0.21977870166301727, - "final_error": 0.0011800330877304033, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_2_joints": { - "value": [ - { - "joint": "joint1", - "target": 0.0, - "final_position": 0.008649011142551899, - "final_error": 0.008649011142551899, - "entered_tolerance": true - }, - { - "joint": "joint2", - "target": 0.28797924518585205, - "final_position": 0.29394057393074036, - "final_error": 0.005961328744888306, - "entered_tolerance": true - }, - { - "joint": "joint3", - "target": -0.20943939685821533, - "final_position": -0.202408567070961, - "final_error": 0.0070308297872543335, - "entered_tolerance": true - }, - { - "joint": "joint4", - "target": 0.0, - "final_position": 0.009613010101020336, - "final_error": 0.009613010101020336, - "entered_tolerance": true - }, - { - "joint": "joint5", - "target": 0.0, - "final_position": 0.00561421038582921, - "final_error": 0.00561421038582921, - "entered_tolerance": true - }, - { - "joint": "joint6", - "target": 0.0, - "final_position": 0.017109954729676247, - "final_error": 0.017109954729676247, - "entered_tolerance": true - }, - { - "joint": "finger_joint", - "target": 0.11344650387763977, - "final_position": 0.11507803201675415, - "final_error": 0.0016315281391143799, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iterations_passed": { - "value": 3, - "unit": null - }, - "mjc_iterations_failed": { - "value": 0, - "unit": null - }, - "motion_history_mjc_joint_000": { - "value": { - "schema_version": 1, - "name": "mjc_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 9000.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4736.84228515625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 15.789473533630371, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.27397346496582, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 6.11, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.062, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 132.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.062, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 6.11, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.062, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 132.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.062, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 54.859, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 10.249, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 2049.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 16085, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 54.859, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 10.249, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 2049.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 16085, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.328, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.672, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 133.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.062, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.328, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.672, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 133.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.062, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 2.625, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 273.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.070213, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 2.625, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 273.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.070213, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.969, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.798, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1559.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 15954, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 38.969, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.798, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1559.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - 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"json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4736.84228515625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 15.789473533630371, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.27397346496582, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 178, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.031, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.796, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 113.71, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.656, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.422, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 4.374047784608942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.421, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 26.31, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.703, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 58, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 9000.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 50, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8490.56640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 53, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4736.84228515625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 42, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 15.789473533630371, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 31, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.27397346496582, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 46, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/rs013n_onrobot_rg2_validation.json b/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/rs013n_onrobot_rg2_validation.json deleted file mode 100644 index 3799f8d81692be48c0304dc80ab54f26b7e9f808..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.metadata/rs013n_onrobot_rg2_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/rs013n_onrobot_rg2.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - 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"passed": true, - "version": "0-2-0" - } - }, - "profile_id": "Robot-Body", - "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} - } -} diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/256x256/rs013n_onrobot_rg2.usda.png b/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/256x256/rs013n_onrobot_rg2.usda.png deleted file mode 100644 index 27ee300af902ccb69561a4ba0b42e6d2e2422d54..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/.thumbs/256x256/rs013n_onrobot_rg2.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9a49c62f7b47287202fec13d5e8abc0dc8d70ae2489f9e00657d159ebfe9f483 -size 34883 diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json b/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json deleted file mode 100644 index 38a8ea1563dd175583334d00a7facdb58a960b62..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - 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}, - "package_hash": { - "sha256": "c3f19a4c8072b56188a59bd7e437eda7617a97461411bbd2ccb2c895ada0e638" - } -} diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/aux_definitions.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/core_definitions.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/license.txt b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/support_definitions.mdl b/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/mujoco.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/mujoco.usda deleted file mode 100644 index 013e7c47e129fbfcd323ad01fccd15c1b0c223c0..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs013n" -{ - over "world" - { - over "world2base" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "rs013n2rg2" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg2_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "gripper_center_joint" - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physics.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physics.usda deleted file mode 100644 index d75a84bda53084dffe1e9e7f390571c675cf92d1..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physics.usda +++ /dev/null @@ -1,627 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "khi_rs013n" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "world2base" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 100 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.505) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 49.492 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -104.99999 - float physics:upperLimit = 137.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 35.291 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.7, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -158.99998 - float physics:upperLimit = 135 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 15.457 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.11, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -199.99998 - float physics:upperLimit = 199.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 9.297 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.65) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -124.99999 - float physics:upperLimit = 124.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 1.792 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.078, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 0.625 - - def PhysicsFixedJoint "rs013n2rg2" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsFixedJoint "gripper_center_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.2) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physx.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physx.usda deleted file mode 100644 index 34c30d5f204fe469b1d75d08f7e6b87762151911..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/Physics/physx.usda +++ /dev/null @@ -1,234 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs013n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" ( - ) - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 265 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 250 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 265 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 475 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 475 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 730 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/base.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/base.usda deleted file mode 100644 index 48425a702abcdc8e2b2df02d91202965391ddd07..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/base.usda +++ /dev/null @@ -1,467 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs013n" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.5049999356269836) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.5049999356269836) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-8.940696716308594e-8, 0, 1.2049998044967651) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.043081283569336e-7, 0, 1.3149998188018799) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.6499999762) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.6499999762) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.4999999403953552, -0.4999999403953552, -0.4999999403953552, -0.4999999403953552) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.043081283569336e-7, 0, 1.9649995565414429) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.1920928955078125e-7, 0, 2.042999505996704) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg2_base_link" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.1920928955078125e-7, 0, 2.042999505996704) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper_center" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.1920928955078125e-7, 0, 2.24299955368042) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.017178116366267204, 3.0716660326390866e-9, 2.1687965393066406) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.05677010864019394, 1.0151268270419678e-8, 2.2069735527038574) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.007678117137402296, 1.372933322585368e-9, 2.1852965354919434) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.7071067690849304, 0, 0, -0.7071066498756409) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0076778787188231945, -1.372933322585368e-9, 2.1852965354919434) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.017177877947688103, -3.0716660326390866e-9, 2.1687965393066406) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.05676987022161484, 1.1087537998832886e-8, 2.2069735527038574) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/geometries.usd b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/geometries.usd deleted file mode 100644 index a3f2e1fce6de299fe38f72baef01d94c7259f105..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:58bcbe76cc908d7eff011ed1bd4b660479644433741c3927a69a7253b2a7248e -size 8090558 diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda deleted file mode 100644 index 180b6f4273a8699f8582f1e604565d1ebebca024..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/instances.usda +++ /dev/null @@ -1,597 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_Black" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda deleted file mode 100644 index 8a78008ea5742087a1234ed8b426780a63360dce..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/materials.usda +++ /dev/null @@ -1,246 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/robot.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/robot.usda deleted file mode 100644 index 5ee5f4bd9e194789b2da47663efced25ee75c6bb..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/payloads/robot.usda +++ /dev/null @@ -1,433 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs013n" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "world2base" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "rs013n2rg2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center" - { - string isaac:nameOverride - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda deleted file mode 100644 index 9da7cf818ed1bbdc9a2753add0b70d5c30d36423..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda +++ /dev/null @@ -1,1436 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/khi_rs013n" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/khi_rs013n" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/khi_rs013n" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.51684445, 0.45755434, 2.259772) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "rs013n_onrobot_rg2" - string asset_type = "robot" - string author = "Kawasaki" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 212.95400070399046 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Kawasaki/RS013N/rs013n_onrobot_rg2/rs013n_onrobot_rg2.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs013n" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "gripper_center" - { - matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0.20000004768371582, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "gripper_center_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/mujoco.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/mujoco.usda deleted file mode 100644 index e00ad3be4efe85ade12efc25164591b94abcda88..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/mujoco.usda +++ /dev/null @@ -1,445 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs013n" -) - -def "khi_rs013n" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_khi_rs013n_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_onrobot_rg2_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_onrobot_rg2_base_link_left_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_onrobot_rg2_base_link_right_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_onrobot_rg2_base_link_right_outer_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_left_outer_knuckle_left_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs013n_right_outer_knuckle_right_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/newton.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/newton.usda deleted file mode 100644 index 2c6d75230293ba8f88534817c90c92c3dc31e0c8..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/newton.usda +++ /dev/null @@ -1,340 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs013n" -) - -over "khi_rs013n" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "world2base" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 8490.566 - float newton:damping = 283.01886 - float newton:velocityLimit = 265 - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 9000 - float newton:damping = 300 - float newton:velocityLimit = 250 - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 8490.566 - float newton:damping = 283.01886 - float newton:velocityLimit = 265 - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4736.8423 - float newton:damping = 157.89473 - float newton:velocityLimit = 475 - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 200 - float drive:angular:physics:stiffness = 15.789474 - float newton:damping = 0.526316 - float newton:velocityLimit = 475 - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 200 - float drive:angular:physics:stiffness = 10.273973 - float newton:damping = 0.342466 - float newton:velocityLimit = 730 - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 6.545 - float newton:damping = 0.218166 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda deleted file mode 100644 index ab49d18f2f236bb259e971bd8f7e9fd64bf22c55..0000000000000000000000000000000000000000 --- a/kawasaki_rs013n_rs013n_onrobot_rg2/runnables/physics/physx.usda +++ /dev/null @@ -1,384 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs013n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs013n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 265 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 250 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 265 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 475 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 475 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 730 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index d3eb2ed80a23e50cf90e389531baaa33fb5a2ccc..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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"unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "culling_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 14.5, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.094, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 193.38, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.828, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 68.766, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 3.655, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 522.14, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.672, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - 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"display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 28, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 14, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 14, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 14, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 3.655, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 522.14, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.672, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 15444, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 15593, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.0692, - 0.0691, - 0.0691 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.001813, - "unit": null - }, - "display_color_response_ratio": { - "value": 1.0, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 0.999935, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 14.844, - "message": "", - 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"unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - 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}, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 41, - "json": "motion_history/dgv_joint_012.json", - "csv": "motion_history/dgv_joint_012.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 16.343, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 7, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 5, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.379363784805942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.532, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 66.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.672, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987739807835, - "start": -1.6175153438879875e-09, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 90, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236009255232658, - "start": 2.1499249669432174e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - 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"damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235959056518423, - "start": -2.869946456485195e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 83, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5357.14306640625, - "damping": 0.0, - "max_force": 60000.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987756086902, - "start": 1.0391360515116244e-11, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 75, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 26.785715103149414, - "damping": 0.0, - "max_force": 300.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235988959088443, - "start": 1.2031054552608111e-07, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 73, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.423077583312988, - "damping": 0.0, - "max_force": 300.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755940325, - "start": -4.2663741463278004e-12, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 65, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_007": { - "value": { - "schema_version": 1, - "name": "dgv_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235765970333942, - "start": -2.21785649046069e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 184, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 70.89, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 7, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "finger_joint", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "direction": "-XZ", - "world_com": [ - -0.017230022698640823, - 3.520399332046509e-07, - 2.6907970905303955 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.141, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 13.58, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.969, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "finger_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -1.7453291416168213, - "runtime_upper": 2.2863810062408447, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -2.8099801540374756, - "runtime_upper": 2.5307271480560303, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -2.5307271480560303, - "runtime_upper": 2.5307271480560303, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - 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"unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.752457857131958, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.7453291416168213, - "runtime_upper": 2.2863810062408447, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.752457857131958, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 295, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.8099801540374756, - "runtime_upper": 2.5307271480560303, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 4.71238899230957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8333.3330078125, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 301, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 7.330382823944092, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5357.14306640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 276, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.5307271480560303, - "runtime_upper": 2.5307271480560303, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 7.330382823944092, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 26.785715103149414, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 261, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 13.613568305969238, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.423077583312988, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 259, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.718, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS025N/rs025n_onrobot_rg2/simready_usd/rs025n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 4.843, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS025N/rs025n_onrobot_rg2/simready_usd/rs025n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 62.625, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 7, - 8, - 9, - 10, - 11 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - "jik_robot_reach": { - "value": 1.4469, - "unit": null - }, - "jik_target_radius": { - "value": 1.3022, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - 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} - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "finger_joint", - "authored_joint_name": "finger_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.969, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.362, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 145.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.516, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.724138, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 21, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.942824, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.022474, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.969, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.362, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 145.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.516, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.724138, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - 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}, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5357.14306640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 26.785715103149414, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.423077583312988, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 4.421, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.032, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 129.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.688, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 4.421, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.032, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 129.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.688, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.235, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.486, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1697.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 15444, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.235, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.486, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1697.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 15444, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.797, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.456, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 122.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.797, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.456, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 122.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.031, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.064, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 532.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.067166, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.031, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.064, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 532.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.067166, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.562, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.186, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1437.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 15228, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.562, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.186, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1437.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 15228, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.281, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.453, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 32.219, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.609, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 70, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 8.7, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.61, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 7, - "unit": null - }, - "sta_joints_passed": { - "value": 7, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.01590197052205325, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 51.375, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.379363784805942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.657, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 70, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 9.39, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.735, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 7, - "unit": null - }, - "sta_joints_passed": { - "value": 7, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.18867314356846543, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 183, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8333.3330078125, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5357.14306640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 26.785715103149414, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 183, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.423077583312988, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.016, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.703, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 100.43, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 13, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.375, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.379363784805942, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.468, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 17, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 27.53, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.735, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 69, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10465.1162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 53, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8333.3330078125, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 53, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 5357.14306640625, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 57, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 26.785715103149414, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 36, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.423077583312988, - "damping": 0.0, - "max_force": 300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 45, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/rs025n_onrobot_rg2_validation.json b/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/rs025n_onrobot_rg2_validation.json deleted file mode 100644 index 4885c7f9055e4a311dedadfc9814b5a9175ec6bd..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/.metadata/rs025n_onrobot_rg2_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/rs025n_onrobot_rg2.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - 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"blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - 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}, - "package_hash": { - "sha256": "af62b7a7df8bccec3db10336e746617780e74c968905834f12139971663383ab" - } -} diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/aux_definitions.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/core_definitions.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/license.txt b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/support_definitions.mdl b/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/mujoco.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/mujoco.usda deleted file mode 100644 index 318a8166687b5112230c869e611fc56cb608b7b0..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs025n" -{ - over "world" - { - over "world2base" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "rs025n2rg2" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg2_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "gripper_center_joint" - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physics.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physics.usda deleted file mode 100644 index e7283357c2b8440092edf476d9117e1d5cba3e95..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physics.usda +++ /dev/null @@ -1,627 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "khi_rs025n" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "world2base" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 84.124 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.58) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 73.318 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -99.99999 - float physics:upperLimit = 130.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 59.038 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.885, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -161 - float physics:upperLimit = 144.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 33.226 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.15, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 16.236 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.85) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -144.99998 - float physics:upperLimit = 144.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 4.058 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.1, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 0.0001 - - def PhysicsFixedJoint "rs025n2rg2" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsFixedJoint "gripper_center_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.2) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physx.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physx.usda deleted file mode 100644 index 4fe33b80529d64b487a7de9bb474495a4aeb96ba..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/Physics/physx.usda +++ /dev/null @@ -1,234 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs025n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" ( - ) - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 215 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 215 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 270 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 420 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 420 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 780 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/base.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/base.usda deleted file mode 100644 index 13ee39183810fc7d9e9e8423840efdd5b3209f0f..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/base.usda +++ /dev/null @@ -1,467 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs025n" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.5799999237060547) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.5799999237060547) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.1920928955078125e-7, 0, 1.464999794960022) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.4156103134155273e-7, 0, 1.614999771118164) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.8500000238) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.8500000238) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.4999999403953552, -0.4999999403953552, -0.4999999403953552, -0.4999999403953552) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.4156103134155273e-7, 0, 2.4649994373321533) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.6763806343078613e-7, 0, 2.5649993419647217) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg2_base_link" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.6763806343078613e-7, 0, 2.5649993419647217) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper_center" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-1.6763806343078613e-7, 0, 2.7649993896484375) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.017178164795041084, 3.0716660326390866e-9, 2.690796375274658) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.05677016079425812, 1.0151268270419678e-8, 2.728973388671875) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.007678165566176176, 1.372933322585368e-9, 2.707296371459961) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.7071067690849304, 0, 0, -0.7071066498756409) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0076778302900493145, -1.372933322585368e-9, 2.707296371459961) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.017177829518914223, -3.0716660326390866e-9, 2.690796375274658) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.056769825518131256, 1.1087537998832886e-8, 2.728973388671875) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/geometries.usd b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/geometries.usd deleted file mode 100644 index 2acc94aac1e78e75969ce3d218f7f9a3d5ca9f59..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:426527e35ae7d55b817f76f479fd62ddb328fd8faeb19d7716670bd7c06c5e14 -size 5532379 diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda deleted file mode 100644 index 180b6f4273a8699f8582f1e604565d1ebebca024..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/instances.usda +++ /dev/null @@ -1,597 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_Black" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda deleted file mode 100644 index 8a78008ea5742087a1234ed8b426780a63360dce..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/materials.usda +++ /dev/null @@ -1,246 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/robot.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/robot.usda deleted file mode 100644 index d0e02d7cba898499d8050549a3b1a5743d141a2a..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/payloads/robot.usda +++ /dev/null @@ -1,418 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs025n" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "world2base" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "rs025n2rg2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center" - { - string isaac:nameOverride - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda deleted file mode 100644 index 7fc21a08687dd6eb98dfd4598b26fb52c550f210..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda +++ /dev/null @@ -1,1436 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/khi_rs025n" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/khi_rs025n" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/khi_rs025n" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.56267756, 0.56521237, 2.781772) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "rs025n_onrobot_rg2" - string asset_type = "robot" - string author = "Kawasaki" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 271.00010142305837 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Kawasaki/RS025N/rs025n_onrobot_rg2/rs025n_onrobot_rg2.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs025n" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "gripper_center" - { - matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -2.6469779601696886e-23, 0.20000004768371582, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "gripper_center_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/mujoco.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/mujoco.usda deleted file mode 100644 index c00ff94291626da2ac9b3bc73e91eab8692b1ca9..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/mujoco.usda +++ /dev/null @@ -1,445 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs025n" -) - -def "khi_rs025n" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_khi_rs025n_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_onrobot_rg2_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_onrobot_rg2_base_link_left_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_onrobot_rg2_base_link_right_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_onrobot_rg2_base_link_right_outer_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_left_outer_knuckle_left_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs025n_right_outer_knuckle_right_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/newton.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/newton.usda deleted file mode 100644 index 8453057a0f53094f36c25b63b9f913b1fad34c4a..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/newton.usda +++ /dev/null @@ -1,340 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs025n" -) - -over "khi_rs025n" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "world2base" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10465.116 - float newton:damping = 348.83722 - float newton:velocityLimit = 215 - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10465.116 - float newton:damping = 348.83722 - float newton:velocityLimit = 215 - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 8333.333 - float newton:damping = 277.77777 - float newton:velocityLimit = 270 - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 5357.143 - float newton:damping = 178.57143 - float newton:velocityLimit = 420 - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 300 - float drive:angular:physics:stiffness = 26.785715 - float newton:damping = 0.892857 - float newton:velocityLimit = 420 - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 300 - float drive:angular:physics:stiffness = 14.423078 - float newton:damping = 0.480769 - float newton:velocityLimit = 780 - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 6.545 - float newton:damping = 0.218166 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda deleted file mode 100644 index c21ff574ad5f34e3260376f5c4f6af923ce9afbd..0000000000000000000000000000000000000000 --- a/kawasaki_rs025n_rs025n_onrobot_rg2/runnables/physics/physx.usda +++ /dev/null @@ -1,384 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs025n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs025n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 215 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 215 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 270 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 420 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 420 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 780 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 8aec54aed279ac9cb479696141db5172b3b81064..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 66.96428680419922, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 206.812, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 43.166666666666664, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 10360, - "planned_nominal_ticks_estimate": 10360, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 206.6720000000205, - "setup_elapsed_wall_seconds": 1.7349999999860302, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3153.3279999999795, - "observed_service_seconds_per_nominal_tick": 0.019781563706567033, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 189.42100000032224, - "attempts": 10360 - }, - "captures": { - "wall_seconds": 2.187000000034459, - "attempts": 82 - }, - "bounds": { - "wall_seconds": 4.962999999988824, - "attempts": 478 - }, - "camera": { - "wall_seconds": 0.7629999999189749, - "attempts": 9364 - }, - "optional_motion": { - "wall_seconds": 1.5000000001164153, - "attempts": 10209 - }, - "commands": { - "wall_seconds": 2.806999999564141, - "attempts": 10120 - }, - "encoding": { - "wall_seconds": 1.937000000034459, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 1.144143485379171, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": 0.0, - "observed_start": 0.0, - "ramp_seconds": 1.7541666666666667, - "velocity_hint_native_per_second": 3.141592653589793, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010193419852387954 - }, - { - "joint": "joint1", - "segment": "to_min", - "requested_start": 2.5132741928100586, - "observed_start": 2.5132529735565186, - "ramp_seconds": 3.254166666666667, - "velocity_hint_native_per_second": 3.141592653589793, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - 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"rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12500.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.8325955867767334, - "runtime_upper": 2.443460702896118, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12500.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 331, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.7052600383758545, - "runtime_upper": 2.356194496154785, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.7925267219543457, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14062.5, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 405, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.2288591861724854, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12162.162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 429, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.5307271480560303, - "runtime_upper": 2.5307271480560303, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.879793167114258, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 113.63636016845703, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 397, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 4.8869218826293945, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 66.96428680419922, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 314, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.5585049390792847, - "runtime_upper": 0.7853979468345642, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 259, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.938, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS080N/rs080n_onrobot_rg2/simready_usd/rs080n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descri [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 5.188, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Kawasaki/RS080N/rs080n_onrobot_rg2/simready_usd/rs080n_onrobot_rg2.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"csv": "motion_history/jik_target_003_joint_008.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_009": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_009", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "right_outer_knuckle_joint", - 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"physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "finger_joint", - "authored_joint_name": "finger_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "reference_frame": "/World/AssetRoot/Asset/onrobot_rg2_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_finger_joint", - "authored_joint_name": "left_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/left_outer_knuckle/left_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/left_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_finger_joint", - "authored_joint_name": "right_inner_finger_joint", - "prim_path": "/World/AssetRoot/Asset/right_outer_knuckle/right_inner_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/right_inner_finger", - "parent_body_path": "/World/AssetRoot/Asset/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.719, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.779, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 125.97, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.782, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.946751, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.019502, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.719, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.779, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 125.97, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.782, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.946751, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.019502, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 30.954, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.985, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 797.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 17542, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 30.954, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.985, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 797.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 28, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 17542, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 52.266, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 5, - "unit": null - }, - "mim_skipped_pairs": { - "value": 0, - "unit": null - }, - "mimic_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.953, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 47.65, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_max_error_rad": { - "value": 0.03444458544254303, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_mean_error_rad": { - "value": 0.001609341510629747, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_ref_swept_rad": { - "value": 1.068961650133133, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_observed_rad": { - "value": 1.072883665561676, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_follower_expected_rad": { - "value": 1.068961650133133, - "unit": null - }, - "mim_pair_left_inner_knuckle_joint_dir_matches_gear": { - 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"channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_001.json", - "csv": "motion_history/mim_reference_001.csv" - }, - "unit": null - }, - "motion_history_mim_follower_001": { - "value": { - "schema_version": 1, - "name": "mim_follower_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/left_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_001.json", - "csv": "motion_history/mim_follower_001.csv" - }, - "unit": null - }, - "motion_history_mim_reference_002": { - "value": { - "schema_version": 1, - "name": "mim_reference_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_002.json", - "csv": "motion_history/mim_reference_002.csv" - }, - "unit": null - }, - "motion_history_mim_follower_002": { - "value": { - "schema_version": 1, - "name": "mim_follower_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "finger_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": -1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - 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"physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 347, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - 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"json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12162.162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 113.63636016845703, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 66.96428680419922, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.75, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.718, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 102.57, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.641, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 22, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 18, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000000.0, - "damping": 100000.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 11, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.594, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 5.737675888545542, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 24, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 18.88, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.953, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12500.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 79, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12500.0, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 64, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14062.5, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 77, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 12162.162109375, - "damping": 0.0, - "max_force": 60000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link4/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 113.63636016845703, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 71, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 66.96428680419922, - "damping": 0.0, - "max_force": 500.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 99, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/onrobot_rg2_base_link/finger_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.545000076293945, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/rs080n_onrobot_rg2_validation.json b/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/rs080n_onrobot_rg2_validation.json deleted file mode 100644 index a54439c93cfea6537ef5b197637c7520ed1a0788..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/.metadata/rs080n_onrobot_rg2_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/rs080n_onrobot_rg2.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - 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}, - "package_hash": { - "sha256": "3ee1c38371afe2b4a6754633d8915ea13ed1b78ffb5be751bee9dc743575edfa" - } -} diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/aux_definitions.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/core_definitions.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/license.txt b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/support_definitions.mdl b/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/mujoco.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/mujoco.usda deleted file mode 100644 index 37a5ba2f6442b25bce940f1916a7fc8112529469..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs080n" -{ - over "world" - { - over "world2base" - { - } - } - - over "root_joint" - { - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link4" - { - over "joint5" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link5" - { - over "joint6" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link6" - { - over "rs080n2rg2" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "onrobot_rg2_base_link" - { - over "finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "gripper_center_joint" - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" - { - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_outer_knuckle" - { - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "right_inner_finger" - { - over "visuals" - { - } - - over "collisions" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physics.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physics.usda deleted file mode 100644 index 8c302300269f048bdde00c62799658331cf1eb8b..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physics.usda +++ /dev/null @@ -1,627 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def "khi_rs080n" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "world" - { - def PhysicsFixedJoint "world2base" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 200 - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.68) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 216.15 - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.15, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, -0.99999994, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -104.99999 - float physics:upperLimit = 139.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 70.847 - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.87, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -154.99998 - float physics:upperLimit = 135 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 51.71 - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.267, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 31.6751 - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.813) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0) - float physics:lowerLimit = -144.99998 - float physics:upperLimit = 144.99998 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 6.866 - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.165, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.99999994, 0, 0, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:mass = 0.625 - - def PhysicsFixedJoint "rs080n2rg2" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.7 - - def PhysicsRevoluteJoint "finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 1, 0) - quatf physics:localRot1 = (-4.371139e-8, 0, 1, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.007678, 0.142297) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, -0, -1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0.017178, 0.125797) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -31.999977 - float physics:upperLimit = 44.99999 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - def PhysicsFixedJoint "gripper_center_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.2) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "gripper_center" - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - def PhysicsRevoluteJoint "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 100000 - float drive:angular:physics:maxForce = 60000 - float drive:angular:physics:stiffness = 10000000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.039592, 0.038177) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -50.00002 - float physics:upperLimit = 50.00002 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float physics:mass = 0.05 - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } - - def PhysicsFixedJoint "__fixed_base_joint" - { - rel physics:body1 = - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (1, 0, 0, 0) - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physx.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physx.usda deleted file mode 100644 index e9d983e8a32a79cbd934ce4ebe5e33a5e0c4f9d4..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/Physics/physx.usda +++ /dev/null @@ -1,234 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs080n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" ( - ) - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 160 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 185 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 165 - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 280 - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/base.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/base.usda deleted file mode 100644 index 4599dc4fdddef1aecbe3e9ea982e5ab72df83880..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/base.usda +++ /dev/null @@ -1,467 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs080n" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "base_link" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - quatd xformOp:orient = (0.7071067690849304, 0, 0, -0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.6799999475479126) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.15000000596046448, -8.940697071579962e-9, 0.6799999475479126) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999988675117493, -8.940697071579962e-9, 1.5499998331069946) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999984204769135, -8.940697071579962e-9, 1.8169997930526733) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.8130000234) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.8130000234) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.4999999403953552, -0.4999999403953552, -0.4999999403953552, -0.4999999403953552) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999984204769135, -8.940697071579962e-9, 2.6299996376037598) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067691, 0, 0.7071067691, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999979734420776, -8.940697071579962e-9, 2.794999599456787) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "onrobot_rg2_base_link" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999979734420776, -8.940697071579962e-9, 2.794999599456787) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "gripper_center" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999979734420776, -8.940697071579962e-9, 2.994999647140503) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.13282179832458496, -5.869031038940875e-9, 2.9207966327667236) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_finger" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.09322980046272278, 1.2105707547505062e-9, 2.9589736461639404) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (0.7071067094802856, 0, 0, -0.7071067094802856) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14232179522514343, -7.567763304905384e-9, 2.9372966289520264) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (-0.7071067690849304, 0, 0, -0.7071066498756409) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.1576777994632721, -1.031363083825454e-8, 2.9372966289520264) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.16717779636383057, -1.2012362660129838e-8, 2.9207966327667236) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "right_inner_finger" - { - quatd xformOp:orient = (0.7071066498756409, 0, 0, 0.7071067690849304) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.20676979422569275, 2.1468409272529243e-9, 2.9589736461639404) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/geometries.usd b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/geometries.usd deleted file mode 100644 index b78714fd75bcbc27a7b84493a2f078ee9f78999e..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d417de697420dce2fd110a2c0d39137affd0ab10606ad17f42d93db805180078 -size 5786029 diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda deleted file mode 100644 index 180b6f4273a8699f8582f1e604565d1ebebca024..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/instances.usda +++ /dev/null @@ -1,597 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_1_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_2_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_3_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_4_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_5_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_Black" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "visuals_6_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_7" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_8" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_9" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_191919" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_10" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_CCCCCC" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda deleted file mode 100644 index 8a78008ea5742087a1234ed8b426780a63360dce..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/materials.usda +++ /dev/null @@ -1,246 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_CCCCCC" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_191919" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1, 0.1, 0.1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1, 0.1, 0.1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/robot.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/robot.usda deleted file mode 100644 index f559d418b312eb338d1e31b3c479def2f37dfb35..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/payloads/robot.usda +++ /dev/null @@ -1,418 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs080n" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "world" - { - string isaac:nameOverride - - over "world2base" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "rs080n2rg2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "gripper_center" - { - string isaac:nameOverride - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "left_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "right_inner_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda deleted file mode 100644 index b44ff137d2753a0b50700399df088c5b8ab718a8..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda +++ /dev/null @@ -1,1436 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/khi_rs080n" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/khi_rs080n" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/khi_rs080n" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.67, 0.56700003, 3.0117722) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "rs080n_onrobot_rg2" - string asset_type = "robot" - string author = "Kawasaki" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 578.8730935975909 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Kawasaki/RS080N/rs080n_onrobot_rg2/rs080n_onrobot_rg2.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "khi_rs080n" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - , - , - , - , - , - ] - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "base_link" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "link6" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - - over "gripper_center" - { - matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0.20000004768371582, 1) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "gripper_center_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/mujoco.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/mujoco.usda deleted file mode 100644 index 9714db3715ba0a00b44a5178996903abe47ee2e4..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/mujoco.usda +++ /dev/null @@ -1,445 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs080n" -) - -def "khi_rs080n" -{ - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_khi_rs080n_base_link_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_link1_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_link2_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_link3_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_link4_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_link5_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_onrobot_rg2_base_link_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_onrobot_rg2_base_link_left_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_onrobot_rg2_base_link_right_inner_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_onrobot_rg2_base_link_right_outer_knuckle_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_left_outer_knuckle_left_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_khi_rs080n_right_outer_knuckle_right_inner_finger_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -572957795.1308233, -5729577.951308233] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60000 - double mjc:forceRange:min = -60000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/newton.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/newton.usda deleted file mode 100644 index 73bfa279970a7de85c28af55e9f2b2522efa6b68..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/newton.usda +++ /dev/null @@ -1,340 +0,0 @@ -#usda 1.0 -( - defaultPrim = "khi_rs080n" -) - -over "khi_rs080n" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "world" - { - over "world2base" - { - bool physics:jointEnabled = 0 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 12500 - float newton:damping = 416.66666 - float newton:velocityLimit = 180 - } - } - - over "link1" - { - over "collisions" - { - over "visuals_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 12500 - float newton:damping = 416.66666 - float newton:velocityLimit = 180 - } - } - - over "link2" - { - over "collisions" - { - over "visuals_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 14062.5 - float newton:damping = 468.75 - float newton:velocityLimit = 160 - } - } - - over "link3" - { - over "collisions" - { - over "visuals_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 12162.162 - float newton:damping = 405.4054 - float newton:velocityLimit = 185 - } - } - - over "link4" - { - over "collisions" - { - over "visuals_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 500 - float drive:angular:physics:stiffness = 113.63636 - float newton:damping = 3.787879 - float newton:velocityLimit = 165 - } - } - - over "link5" - { - over "collisions" - { - over "visuals_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 500 - float drive:angular:physics:stiffness = 66.96429 - float newton:damping = 2.232143 - float newton:velocityLimit = 280 - } - } - - over "link6" - { - over "collisions" - { - over "visuals_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 6.545 - float newton:damping = 0.218166 - float newton:velocityLimit = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = -1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "left_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - float newton:velocityLimit = 114.59156 - } - } - - over "right_inner_finger" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda b/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda deleted file mode 100644 index 16ef929bfe93a566abdf1ad9a2c7412db153fe18..0000000000000000000000000000000000000000 --- a/kawasaki_rs080n_rs080n_onrobot_rg2/runnables/physics/physx.usda +++ /dev/null @@ -1,384 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "khi_rs080n" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "khi_rs080n" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "world" - { - } - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - - over "collisions" - { - over "visuals_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 160 - } - - over "collisions" - { - over "visuals_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 185 - } - - over "collisions" - { - over "visuals_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 165 - } - - over "collisions" - { - over "visuals_4" - { - token physics:approximation = "convexHull" - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 280 - } - - over "collisions" - { - over "visuals_5" - { - token physics:approximation = "convexHull" - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "visuals_6" - { - token physics:approximation = "convexHull" - } - } - } - - over "onrobot_rg2_base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:stiffness = 1000000 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physics:lowerLimit = -44.99999 - float physics:upperLimit = 31.999977 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = 1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "left_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_3" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "right_inner_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 0 - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 114.59156 - float physxMimicJoint:rotX:dampingRatio = 1 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 20 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "right_inner_finger" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "__fixed_base_joint" - { - bool physics:jointEnabled = 0 - } -} - diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 02dfdf6c993a3cccb93764eac6934031f94902cb..8b9496be74d203c1557efbdbf45adde2e8be4013 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:24", + "timestamp": "2026-11-03T23:36:00", "assets": [ { "asset": "gen3n7_instanceable.usda", diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index a462d1a40e1c93b45cfe72bebe7507873fa7b552..ca80f09300dad83cee3f9bf9f2c67220c5e7c365 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:26", + "timestamp": "2026-11-03T23:36:02", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index 2cc4cef3c74675832d078facbf9476f49937e693..d38b728e9521a13d89c802c5f60850eb24f50752 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_gen3_gen3n7_instanceable/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/kinova_gen3_gen3n7_instanceable/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/kinova_gen3_gen3n7_instanceable/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/gen3n7_instanceable.usda.png", diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_benchmark.json b/kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_benchmark.json similarity index 99% rename from kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_benchmark.json rename to kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_benchmark.json index 0659b7ea4d80c8652dbf78eb636313e440292f6e..a240a11472e8d62062228fbd1d3df1ec47e9e6c8 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_benchmark.json +++ b/kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "gen3n7_instanceable", + "asset": "kinova_gen3_gen3n7_instanceable", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_validation.json b/kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_validation.json similarity index 97% rename from kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_validation.json rename to kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_validation.json index c887193d592c81d2922ff665795bf604f0cc7be4..ae840a006557b74e34b0780a18b086990ce62f89 100644 --- a/kinova_gen3_gen3n7_instanceable/.metadata/gen3n7_instanceable_validation.json +++ b/kinova_gen3_gen3n7_instanceable/.metadata/kinova_gen3_gen3n7_instanceable_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json b/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json index 7659ab28f102d69b3d017d2e87c090c511d0bde7..1052966a76dd15cee513f09043ad01811f973dc0 100644 --- a/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_gen3_gen3n7_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_gen3_gen3n7_instanceable.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_gen3_gen3n7_instanceable.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "99f290c77cab8e0bb38f1d4b235f6ef7d7f0f709b0b46d68b61f72160bd2e24b" + "sha256": "baf0cc598d6786f30b6f6024aa9b4bc843b68a8a81f1341284dd44963a1ceb2f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "7931265abd16d869f7e5cf49a89fd60946feab5e12218afccf7c6478f3c56407" + "sha256": "a28a3a3d71d075140b5f0629b96274848f6901284df90d45d1759e41f9657cad" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "gen3n7_instanceable_benchmark.json", + "name": "kinova_gen3_gen3n7_instanceable_benchmark.json", "hash": { - "sha256": "1428df3d45d8857e040f6e17eb4325297b99da7178c89140b411bcf9eed1b845" + "sha256": "5f489e42051f027e256f4e02eed38b24266ceb42f787735ca34739bb124cd842" } }, { - "name": "gen3n7_instanceable_validation.json", + "name": "kinova_gen3_gen3n7_instanceable_validation.json", "hash": { - "sha256": "4f316b204ac08584530c7799d3ba70e0df08367d8c2f53e4834fc216535db7c5" + "sha256": "22697b545b28e09938676d315ed2ba4ca6e3084e64c06669865bbf8f3a28e893" } }, { @@ -44,6 +44,6 @@ "sha256": "15533819fbeac3d9b8e771d223767e1c5f10a9082c57752737e9782a6d717e96" }, "package_hash": { - "sha256": "73981c5bff0788593e90e5d924c24afdd824a9290da232af7c09be8c1d83f345" + "sha256": "ce4ffa4376d738f11ede3a2c13152cd3317e9ffa0fc7bcbd385c37816f670ef6" } } diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index afcc21a47c00429073876ca690b7fa2e54e44e06..0888d5854a2ceebfbe45ed5367b19a4add4f47f4 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:27", + "timestamp": "2026-11-03T23:36:03", "assets": [ { "asset": "j2n6s300_instanceable.usda", diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 7d56edbda892cac9b50b89ee44365051de728121..9c2d0e5477532de07579d9b050c72c5ef757c21f 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:30", + "timestamp": "2026-11-03T23:36:05", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index cb863800e0b3197a120bebf0b6959446971bab37..2368fec81a5481e5b9e6755ac977f11e14e93266 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_jaco2_j2n6s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/kinova_jaco2_j2n6s300_instanceable/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/kinova_jaco2_j2n6s300_instanceable/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/j2n6s300_instanceable.usda.png", diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_benchmark.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_benchmark.json similarity index 99% rename from kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_benchmark.json rename to kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_benchmark.json index 4a5b40e7ebd916e72ccd8ae8751c4c009d3170fc..805860f7dbacd9a351deebdfec7a1b307053da00 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_benchmark.json +++ b/kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "j2n6s300_instanceable", + "asset": "kinova_jaco2_j2n6s300_instanceable", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_validation.json b/kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_validation.json similarity index 97% rename from kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_validation.json rename to kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_validation.json index e058d1d8cf3d58ac845074f2d28bd131019876ca..64902dd162c8c90ef99253055ea039631bd8cce8 100644 --- a/kinova_jaco2_j2n6s300_instanceable/.metadata/j2n6s300_instanceable_validation.json +++ b/kinova_jaco2_j2n6s300_instanceable/.metadata/kinova_jaco2_j2n6s300_instanceable_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json b/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json index 162dbcd436241795a08a6572f74ec70f1fa6f882..e3e4e37c13b59948e1dbdad5c5eef847d98b6a53 100644 --- a/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_jaco2_j2n6s300_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n6s300_instanceable.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n6s300_instanceable.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "46e0efd1a9ea5b1eae0208600b74d4f31421eabc8c6b6ed055bbba3eefd5e72c" + "sha256": "67b79191696e813ff4ac8469f1925c5b5d8e2fb997f6fa977340aedf5ddccd36" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "87b3fc51266ced7bcd212473c527fb4bdfb8849bf6b6877d0007760b15023b4f" + "sha256": "c55539e3f61d81b6c283708a5c69fccb52218b52fec599695b9e9e9a6d9f8490" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "j2n6s300_instanceable_benchmark.json", + "name": "kinova_jaco2_j2n6s300_instanceable_benchmark.json", "hash": { - "sha256": "3c5cea27c653d74c12dbc8e741e07d13476fa8eca5fe3efe7c72c83a668850b3" + "sha256": "4d1fb6a9736bb85cd804873f7a8418847c0a785d9d0a29af508c8ee08609ed27" } }, { - "name": "j2n6s300_instanceable_validation.json", + "name": "kinova_jaco2_j2n6s300_instanceable_validation.json", "hash": { - "sha256": "8fa17fc065066fce3f4464e7a936a7e1f4aff4725be3762142c3b67938424e59" + "sha256": "ae48f01cb4e5890223e0057386fb51cd40e8230168dd1e7c2e176b13ff6f3b7b" } }, { @@ -44,6 +44,6 @@ "sha256": "57c4760e4b22554e8d339eb6bd9c55473b63e6d88665325b0ef3a1528f9c1f64" }, "package_hash": { - "sha256": "6ba51495ecc8b1a6da7db6eea2dd4b65fb74a3e6289257a276b83bfc2a330dd8" + "sha256": "7fa3aaec26bbefabfea2d2951777f2bd5f7d2ca79fe775376eea7322bed4510d" } } diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d7a93a3b3f6ae3a176d6219ae05f3abab27d2eb5..f9d22f39058b40a429e0a15f57b4043eb767a7be 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:31", + "timestamp": "2026-11-03T23:36:06", "assets": [ { "asset": "j2n7s300_instanceable.usda", diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 97dbdd229cb9edd08bb4f5f64cae19ce05c595d5..2c4d1cd936b032ab3bd57fb79fd936345350f1aa 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:34", + "timestamp": "2026-11-03T23:36:08", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index 49759d2f0135dd5c52ee36eb53729084593074a0..66b3c61bf9c25fed9c8308dc599d4c00e056108e 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kinova_jaco2_j2n7s300_instanceable/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/kinova_jaco2_j2n7s300_instanceable/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/kinova_jaco2_j2n7s300_instanceable/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/j2n7s300_instanceable.usda.png", diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_benchmark.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_benchmark.json similarity index 99% rename from kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_benchmark.json rename to kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_benchmark.json index bf564bd5c8114b34493ec3393e29e7b363ea465d..64819d08f40572a0ac9869ee080637f3f65d0cca 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_benchmark.json +++ b/kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "j2n7s300_instanceable", + "asset": "kinova_jaco2_j2n7s300_instanceable", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_validation.json b/kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_validation.json similarity index 97% rename from kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_validation.json rename to kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_validation.json index 51bed7ce92dcffa937323d14a590dfd7f8aa305c..b7e8734818ab4c13840242c29dd91ca5c47ebbe2 100644 --- a/kinova_jaco2_j2n7s300_instanceable/.metadata/j2n7s300_instanceable_validation.json +++ b/kinova_jaco2_j2n7s300_instanceable/.metadata/kinova_jaco2_j2n7s300_instanceable_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json b/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json index 039d10cf07d1b0bcbe4790b2ac9db4edbd741f1d..68d3f040fc559d1133971f63fa5c0c5bb65db32e 100644 --- a/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json +++ b/kinova_jaco2_j2n7s300_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n7s300_instanceable.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.kinova_jaco2_j2n7s300_instanceable.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "8b3914a52293ec72496eeacf8d66d71dfdf896046fdacb38f9abff1ec1a76996" + "sha256": "abe11f93f78e8e3886ff4e491b0c43ad91d09aed1794064958ae35a2bd448f33" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "a12a8f59a09f4f33cd67669ef6d856cbbb1ef8898c90237c28265ec0e770f1f3" + "sha256": "9db34571a907bdf908c7964f2197bf5fce993c91012eddb6365970fb1dbe8257" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "j2n7s300_instanceable_benchmark.json", + "name": "kinova_jaco2_j2n7s300_instanceable_benchmark.json", "hash": { - "sha256": "5bd738d588e960da9607e0eb9f03433b901f98a06f88a54461cbd48a76557767" + "sha256": "12670c0e3e775aacb614df43819db86d2b8c6c94e4378820346151bf4aec21ce" } }, { - "name": "j2n7s300_instanceable_validation.json", + "name": "kinova_jaco2_j2n7s300_instanceable_validation.json", "hash": { - "sha256": "b3200006ae3dbacc1f98bc7b4d894b36bfb826d323e5c8c7677d628b7f9fe444" + "sha256": "e39f36f48aaefed19711b329864f799a81a9f3153d7bc17522835c9005798e36" } }, { @@ -44,6 +44,6 @@ "sha256": "6b146949c80415d53596b1d532a4b3a25478191b01e254e30d701131e6d819bf" }, "package_hash": { - "sha256": "ba3e57b496dda396b6b324244146dbfe18fa57571d8b61e9da9f0c7f06e177bc" + "sha256": "d305873aebdc35c12eab9b40663e88dbc706af953df8ebaaeb8bd4b65ccab425" } } diff --git a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0dd62b8b288c83053eb0a09afab77a762bf5ac63..25113b31ac5bc920a783dd92403cfe28c346fd8b 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:35", + "timestamp": "2026-11-03T23:36:09", "assets": [ { "asset": "kr210_l150.usda", diff --git a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index e3d38f36de4c15f8d454c475a974fb04b8eddc3e..da6229c20cc6601c7e9ff9d90966e1b12fc70de6 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/kuka_kr210_l150/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:38", + "timestamp": "2026-11-03T23:36:11", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json b/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json index ab1714d6e73ee54465952dd83a697b70e6d25899..70305c5d070107c31f4a9356ec792f11f2f0053b 100644 --- a/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kuka_kr210_l150/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/kuka_kr210_l150/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/kuka_kr210_l150/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/kr210_l150.usda.png", diff --git a/kuka_kr210_l150/.metadata/kr210_l150_benchmark.json b/kuka_kr210_l150/.metadata/kuka_kr210_l150_benchmark.json similarity index 99% rename from kuka_kr210_l150/.metadata/kr210_l150_benchmark.json rename to kuka_kr210_l150/.metadata/kuka_kr210_l150_benchmark.json index 014620138b7b26b47071cc9bed417d836a040ed0..99571da7279f901f8e1e947ea2d6adc8df5f7c6e 100644 --- a/kuka_kr210_l150/.metadata/kr210_l150_benchmark.json +++ b/kuka_kr210_l150/.metadata/kuka_kr210_l150_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "kr210_l150", + "asset": "kuka_kr210_l150", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/kuka_kr210_l150/.metadata/kr210_l150_validation.json b/kuka_kr210_l150/.metadata/kuka_kr210_l150_validation.json similarity index 97% rename from kuka_kr210_l150/.metadata/kr210_l150_validation.json rename to kuka_kr210_l150/.metadata/kuka_kr210_l150_validation.json index c655b8c39a95f85d6c75843579722b105730d196..e76bbaab88824adc0908892d4bb6ee6985719a8c 100644 --- a/kuka_kr210_l150/.metadata/kr210_l150_validation.json +++ b/kuka_kr210_l150/.metadata/kuka_kr210_l150_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/kuka_kr210_l150/com.nvidia.simready.packaging.json b/kuka_kr210_l150/com.nvidia.simready.packaging.json index c4be3d06f03e822d3170a6397038852892a649a2..ee60f081c2e99a8cd96b156a774cb66cf6a1651a 100644 --- a/kuka_kr210_l150/com.nvidia.simready.packaging.json +++ b/kuka_kr210_l150/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_kr210_l150.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_kr210_l150.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "512d48e5e73f8836665c6ea33e1916b365d0bf11723badc538ccfc4b694833f5" + "sha256": "4e1183a4ac36d6f6bc12aad4d3b1041cebe3289bee6fb8d472e4e32fbf278322" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "4ab07f2ff70ed7672a4f121dc32f62ba5c8dd50640ee3d8b88cd1944341ffe5e" + "sha256": "8c8429aab61ed4cc4ef3b55840243d2a2fbf3e93b14a62240a6c6887d014b5af" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "kr210_l150_benchmark.json", + "name": "kuka_kr210_l150_benchmark.json", "hash": { - "sha256": "b0418fd6654890dd9541958c106481bc939ebd71cf15aa522b8b4ffdc0544887" + "sha256": "819eb1d77cbf3641c3ea173bd667c042ed83e9857e0950e2e54b5b18ee5c59c8" } }, { - "name": "kr210_l150_validation.json", + "name": "kuka_kr210_l150_validation.json", "hash": { - "sha256": "71943a68b19131611008eb65783efca5cb67baa8bde85849df21cc07f616b7c6" + "sha256": "38ccf5ddfdbf2283e414e18cbb9be0603ab2c5570622b6cb96bc2ceb47868d90" } }, { @@ -44,6 +44,6 @@ "sha256": "b53229dbdfb604c5d1af99a661c7aae22a6703ba346537dadd4cbfe54646ce43" }, "package_hash": { - "sha256": "ef186427d852f2467fc60b835265b34a207acba00a63ccbb9e5acf9e143c6a16" + "sha256": "763d0ef960809f2d1165999a9f17012373eb07f711b9957ecb6a23e1da99376a" } } diff --git a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 5f0b28e3ed0eca0bb51a6f3f60a2ae1fa00d92a9..4ebb2d15e0ac4818dd5a2d936284dde42f3c20a1 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:39", + "timestamp": "2026-11-03T23:36:12", "assets": [ { "asset": "kuka.usda", diff --git a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 99b121cc584189ad83b43e5f37305e018b69c240..72aeef73b7b794b23fd4ac490306df8f2215c7f7 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:42", + "timestamp": "2026-11-03T23:36:14", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json index 842abf828ad9c6cf92665b389f9ca20707919fe6..61d08e7faf10923083ea2a9b6d526a50476875b1 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json +++ b/kuka_lbr_iiwa_kuka/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/kuka_lbr_iiwa_kuka/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/kuka_lbr_iiwa_kuka/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/kuka.usda.png", diff --git a/kuka_lbr_iiwa_kuka/.metadata/kuka_benchmark.json b/kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_benchmark.json similarity index 99% rename from kuka_lbr_iiwa_kuka/.metadata/kuka_benchmark.json rename to kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_benchmark.json index c5803d3835b19951db196d89da5fbe9221c382f1..92e7e7c4dfefd9555466abd001bbfc3017e3294f 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/kuka_benchmark.json +++ b/kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "kuka", + "asset": "kuka_lbr_iiwa_kuka", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/kuka_lbr_iiwa_kuka/.metadata/kuka_validation.json b/kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_validation.json similarity index 97% rename from kuka_lbr_iiwa_kuka/.metadata/kuka_validation.json rename to kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_validation.json index 132be53d92c8d08627866b85212b6089c251463d..0e4f1bfcedcd25e23950639d88b865d037c23d6b 100644 --- a/kuka_lbr_iiwa_kuka/.metadata/kuka_validation.json +++ b/kuka_lbr_iiwa_kuka/.metadata/kuka_lbr_iiwa_kuka_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json b/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json index add95ae79b1dbd06219102fad4959b0e6ddcc25c..594122db38daa5783738a98f30c8b2bda8b9cc2e 100644 --- a/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json +++ b/kuka_lbr_iiwa_kuka/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_lbr_iiwa_kuka.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.kuka_lbr_iiwa_kuka.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "deacf721e5253d19a07963c469d56b2ad6c78e956aadab6c31e638b5ed6aa72b" + "sha256": "d3f2ac1988e99f5cd1631eb16f8a4e236c705483d9ec91f62fb63058683dca39" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "63e4591f69e7d5e11a801d5f01d874bab4d60683e4220405e0bc66e79bf2e8ce" + "sha256": "c44d987b8684a06b47ea83f91e216f88fd07a8c907aca727814b59afff32b355" } }, { @@ -22,15 +22,15 @@ } }, { - "name": "kuka_benchmark.json", + "name": "kuka_lbr_iiwa_kuka_benchmark.json", "hash": { - "sha256": "4f1796411ce2fae74c07a74a6c547c6191cb6cada6e2643e86c2b0919ae0ec08" + "sha256": "7491a94f2d0929e470c1ae005e89a40187efd0ce5d00b790b711ba0ddd63fc7d" } }, { - "name": "kuka_validation.json", + "name": "kuka_lbr_iiwa_kuka_validation.json", "hash": { - "sha256": "7bea51d89c3718ac11a28f0cbef3c4744c603918afa7b70ae9e45256f90ca6a3" + "sha256": "4b715f100e0e11cde8d558259c5786a5113832aef7cd1b271637af7dbcc6f341" } }, { @@ -44,6 +44,6 @@ "sha256": "2204d7521d099e8e4d216c4333226d68fec4f9eb1b4d56c437e3e0e662f3539c" }, "package_hash": { - "sha256": "c5060d36a80843861096e66defd9d9b1cd210296ac1cd7be5c1ae2b025e5a19c" + "sha256": "6226effda6b67054a921b77236102d4cba7b2a042ca0152e0f8907884e09ebed" } } diff --git a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c8db31489d2257e2c7132e46ce76c3bc9ed96e30..27670ed6462d8e6c9b10ff089292e04437efadad 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:43", + "timestamp": "2026-11-03T23:36:15", "assets": [ { "asset": "meca500.usda", diff --git a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 8f157ebda41649dee7a2b27b98dd255a7032560d..fc4aa5a6d56a781c33e7f8e8e30c92b9b43714cf 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/mecademic_meca500/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:45", + "timestamp": "2026-11-03T23:36:17", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json b/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json index acdbc3684c92a819e6a3ef1133fee4389a4c6b40..1e1b8b58438a0570a54d911c4b2928e288b6a6ef 100644 --- a/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json +++ b/mecademic_meca500/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/mecademic_meca500/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/mecademic_meca500/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/meca500.usda.png", diff --git a/mecademic_meca500/.metadata/meca500_benchmark.json b/mecademic_meca500/.metadata/mecademic_meca500_benchmark.json similarity index 99% rename from mecademic_meca500/.metadata/meca500_benchmark.json rename to mecademic_meca500/.metadata/mecademic_meca500_benchmark.json index 0e3f104e609b3d9a7595c905ede776c4cd7080b0..8f9a26c7753655ddea1b1dc7df864dbaee318b61 100644 --- a/mecademic_meca500/.metadata/meca500_benchmark.json +++ b/mecademic_meca500/.metadata/mecademic_meca500_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "meca500", + "asset": "mecademic_meca500", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/mecademic_meca500/.metadata/meca500_validation.json b/mecademic_meca500/.metadata/mecademic_meca500_validation.json similarity index 97% rename from mecademic_meca500/.metadata/meca500_validation.json rename to mecademic_meca500/.metadata/mecademic_meca500_validation.json index 203935c4ce293ad4edc5c2617193af5e26fe1984..939ae801277ce67dadf816407c634c01b091b647 100644 --- a/mecademic_meca500/.metadata/meca500_validation.json +++ b/mecademic_meca500/.metadata/mecademic_meca500_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/mecademic_meca500/com.nvidia.simready.packaging.json b/mecademic_meca500/com.nvidia.simready.packaging.json index c3aa79646fcca42d0c1267e7dbcf9806fab1fdc2..b359deb2632b1046079b136c90cdcea606aa6237 100644 --- a/mecademic_meca500/com.nvidia.simready.packaging.json +++ b/mecademic_meca500/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.mecademic_meca500.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.mecademic_meca500.3.0.2", "license": "CC-BY-4.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2bacdeac8af7040c79921305118df556b005209d20cbc38f762274891bcb35a6" + "sha256": "4914d094581aed03aab4606c5c4b784e01529ee88f64e710f295ea2d05d03b65" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3a2e217deabe17630f775a93dafe7c6c4040d50b7dc77bdfae81085d471186ba" + "sha256": "7845cb8225f14d5b4d2daea2bceb4d46bc9a8bb7ce78ee979bd78e21e4db7930" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "meca500_benchmark.json", + "name": "mecademic_meca500_benchmark.json", "hash": { - "sha256": "cc4608f5d537e60eaec0787044702a237f297c600ee36c665dfa946128f656c3" + "sha256": "2d9402fd1aaab7f6cc0cfc3feb520114aadd88f83051a3f3c1f665937caf3e49" } }, { - "name": "meca500_validation.json", + "name": "mecademic_meca500_validation.json", "hash": { - "sha256": "cd305049661f0f1dded38ab798cb07aa9aa6535ea96c6f5519ea741d99617061" + "sha256": "5a9e5365d8eca255cb725fdc3509ccae959d024ad6a64d82c3092479e7edaa0a" } } ], @@ -44,6 +44,6 @@ "sha256": "796112d94cbfee6abd62f3b5d1a32aa47caea2dbe5c146a37d203724ea37a6df" }, "package_hash": { - "sha256": "066facd8ee9629cf5310850169fdac3eb2d3c11f67f1560910af0ab30e61fbdb" + "sha256": "0980ff479898b4118e1a9f66e69a935ee2542671ea58cc6b0bd1b9b87dd0fb5a" } } diff --git a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ce0876ad6ac8b1f8c2a0b225b0243b7677186997..fe251a7b969a86ff89827ef1a6d66d2f8acbee8a 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:47", + "timestamp": "2026-11-03T23:36:18", "assets": [ { "asset": "openarm_bimanual.usda", diff --git a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9aa3501fddd51a69b55accebf4d2a2215e8bb7e7..31403be3b53b36d3b2df5dd172d621a932bfac96 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:49", + "timestamp": "2026-11-03T23:36:20", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json index 4b406320d92f401bde0ebed014cb89fc3d3fa64a..7c6e0e85e82f37ac246455fbf81df03f0d044389 100644 --- a/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json +++ b/openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/openarm_openarm_bimanual/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/openarm_openarm_bimanual/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/openarm_bimanual.usda.png", diff --git a/openarm_openarm_bimanual/.metadata/openarm_bimanual_benchmark.json b/openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_benchmark.json similarity index 99% rename from openarm_openarm_bimanual/.metadata/openarm_bimanual_benchmark.json rename to openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_benchmark.json index bde9442c5fda25abc5fce1fee18da909e8214969..b99fa22be5ae261bd28795a8218c6e55cc7a64e7 100644 --- a/openarm_openarm_bimanual/.metadata/openarm_bimanual_benchmark.json +++ b/openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "openarm_bimanual", + "asset": "openarm_openarm_bimanual", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/openarm_openarm_bimanual/.metadata/openarm_bimanual_validation.json b/openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_validation.json similarity index 97% rename from openarm_openarm_bimanual/.metadata/openarm_bimanual_validation.json rename to openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_validation.json index a6453a0ab401dfaa68d718aa5a92356e9f17e563..a376279ee1a2671e10e735c86f8a348c6a5b33b5 100644 --- a/openarm_openarm_bimanual/.metadata/openarm_bimanual_validation.json +++ b/openarm_openarm_bimanual/.metadata/openarm_openarm_bimanual_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/openarm_openarm_bimanual/com.nvidia.simready.packaging.json b/openarm_openarm_bimanual/com.nvidia.simready.packaging.json index b9e336d93ff911a815300ec91c99a452df1387fb..5cfd7875b5eb4f7179ebb405dea62f534efe4e2c 100644 --- a/openarm_openarm_bimanual/com.nvidia.simready.packaging.json +++ b/openarm_openarm_bimanual/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_bimanual.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_bimanual.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "244860f3f0cb6a99ae89b38aa8f394304087266900d0e94213cc9703a8a296e1" + "sha256": "2471d3157e7645b08dcf6f3ed89f6bd9ba8bbd78b1ec98ad68594f2ef0ae74b9" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e7dff06d0f20d6ce33e68b8cff9325260f21f54c1547efe9e9f987d1c4c360a1" + "sha256": "98c504be111d272667beb2b81655de137d7988d194a363a5c9e918a7ff936a5d" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "openarm_bimanual_benchmark.json", + "name": "openarm_openarm_bimanual_benchmark.json", "hash": { - "sha256": "d6ea605e07f204f0632ae83ebfa405edd693c9d8d7d08388c36de1798768a144" + "sha256": "7a377c025b2613999ec08580f8cbfa6337499ecb0667f4b174edc59de61428e8" } }, { - "name": "openarm_bimanual_validation.json", + "name": "openarm_openarm_bimanual_validation.json", "hash": { - "sha256": "0cfab1e103a0145e08243a5bc91cc8cc8a3acfa9f70d6b894ca8a3b0dbbffc7b" + "sha256": "22a62f574cbb549489ef0a452cb66780e72c9cc523baa5a55533ca6ff4e22212" } } ], @@ -44,6 +44,6 @@ "sha256": "f7793a5cddd7ef005bcf56d83174c8770b127b165534e198e8fbb0b92296732f" }, "package_hash": { - "sha256": "596bfd16ee0a8a3e9ac465f9c8cf59d064eea55794080b6ff98f6b5ce9ce7512" + "sha256": "eb1efc5d629d54273fe69e54db6bed0bc5c5097645e62cae641cd78d05672f57" } } diff --git a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index fbcc53885b46a810af7d4c2e9825186152582e64..0d7c654308b52ce236e3d6298a1373723c195644 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:51", + "timestamp": "2026-11-03T23:36:21", "assets": [ { "asset": "openarm_unimanual.usda", diff --git a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 9a126419871866e0c76d923e8a80925b7c970c82..0567a70bcb21346ddbd8535a62110d554b22ad0a 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:53", + "timestamp": "2026-11-03T23:36:23", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json index 91c9800360375252e327b872ab86f9ab79546d2a..ca6b6ed09b947004c4257d23cf39874618099845 100644 --- a/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json +++ b/openarm_openarm_unimanual/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/openarm_openarm_unimanual/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/openarm_openarm_unimanual/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/openarm_unimanual.usda.png", diff --git a/openarm_openarm_unimanual/.metadata/openarm_unimanual_benchmark.json b/openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_benchmark.json similarity index 99% rename from openarm_openarm_unimanual/.metadata/openarm_unimanual_benchmark.json rename to openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_benchmark.json index 9e39317704af6de3a6999fdf825a0be072f7f194..07248923d8d46882e0373d1fc3d0c4688b0c394f 100644 --- a/openarm_openarm_unimanual/.metadata/openarm_unimanual_benchmark.json +++ b/openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "openarm_unimanual", + "asset": "openarm_openarm_unimanual", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/openarm_openarm_unimanual/.metadata/openarm_unimanual_validation.json b/openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_validation.json similarity index 97% rename from openarm_openarm_unimanual/.metadata/openarm_unimanual_validation.json rename to openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_validation.json index 4e9c3ff2dd92e5832e031a0523345b68cde3cb2e..997c655aca63774ea3f3785ea5b719d14b8ac831 100644 --- a/openarm_openarm_unimanual/.metadata/openarm_unimanual_validation.json +++ b/openarm_openarm_unimanual/.metadata/openarm_openarm_unimanual_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/openarm_openarm_unimanual/com.nvidia.simready.packaging.json b/openarm_openarm_unimanual/com.nvidia.simready.packaging.json index 25f9ea6d39c46db219a4c64e061ef48889d445c4..aae36b1c10b37768b8673bc92dd73a9f415dd2ae 100644 --- a/openarm_openarm_unimanual/com.nvidia.simready.packaging.json +++ b/openarm_openarm_unimanual/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_unimanual.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.openarm_openarm_unimanual.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "04728442d1f8031d77677870d907fca430d175955c43cdcf6b9f9a6d0445ee36" + "sha256": "bc78e746af46030de379c57c3974dfb91ebb07406d767313c56acb998762a41b" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "2be09332fb0b19f36e6ffb78c9dedc85e0ee28401d848263de9043864eeb5b55" + "sha256": "a89956e5939a1952dbd66860790aa5b9dd0c76e2550ad38bddecbdaa6aae45eb" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "openarm_unimanual_benchmark.json", + "name": "openarm_openarm_unimanual_benchmark.json", "hash": { - "sha256": "4b617dfd25263428316b4ddc36747c6f0d64ef0fecf0dbfc31c591a9f3957ba0" + "sha256": "1dcf0be09d0f33f46597da4182a4c23530d6a77f252d423db0db06f705c0e0d9" } }, { - "name": "openarm_unimanual_validation.json", + "name": "openarm_openarm_unimanual_validation.json", "hash": { - "sha256": "cdc07ecc843165d5836a89718cfb35038b4c3d5bc2b4530dea62aaf6b9c87609" + "sha256": "148daed45c290eca3e1b7d5807af86d158e1478d1e57eaaafea3d34e1c1bf2b9" } } ], @@ -44,6 +44,6 @@ "sha256": "242de5a7d8ab0c22f14863b6293c578dc1444d8093e180b2f74042ac263345c8" }, "package_hash": { - "sha256": "237fc203356d98f06fe2bb3dcb0977ae280a05ebfb504b0937740e3f710eb1de" + "sha256": "2fd876398a2fe34568a9a464d1340daa6179aa03c1b5be321bb237a4251b6f7e" } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index f0c5c53c76b1b359c2659e7530ab35d403a437d1..809998fec98bbe923685582a8c905678ae058ac1 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:55", + "timestamp": "2026-11-03T23:36:24", "assets": [ { "asset": "sawyer_instanceable.usda", diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index e31a1f421a0127a82ae0f5c88b5caafd407bf260..ab81be499f70643af8c0be258ed725381de7ee63 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:26:57", + "timestamp": "2026-11-03T23:36:26", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json index e508ed4663d5fa9e90483391bba678da1977afa5..06f0344091db948cf117e38103dff636b68e6977 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/rethinkrobotics_sawyer_sawyer_instanceable/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/rethinkrobotics_sawyer_sawyer_instanceable/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/sawyer_instanceable.usda.png", diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_benchmark.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_benchmark.json similarity index 99% rename from rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_benchmark.json rename to rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_benchmark.json index e6b21ea5a7791de70f4680f53e708ecc14d11e8e..c5f55ef185a840736667e64fc91a187b9e453f34 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_benchmark.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "sawyer_instanceable", + "asset": "rethinkrobotics_sawyer_sawyer_instanceable", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_validation.json b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_validation.json similarity index 97% rename from rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_validation.json rename to rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_validation.json index 5432ba287a2d16e26c6c4b880b4eb5efbeb8e1df..8b7826c0863c55b5101ee219bcd54d259b6ea98b 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/sawyer_instanceable_validation.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/.metadata/rethinkrobotics_sawyer_sawyer_instanceable_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json b/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json index 9a7c5900ac887f8dc8eac5a949ea4bb7c65e1fb2..87d0b8798e643eeeea3b01501a42ff0815555a32 100644 --- a/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json +++ b/rethinkrobotics_sawyer_sawyer_instanceable/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.rethinkrobotics_sawyer_sawyer_instanceable.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.rethinkrobotics_sawyer_sawyer_instanceable.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "580a7f6ca3d7287869f5fee2db2b5c3ca8378936897e111b5322cc0068149058" + "sha256": "545648797320a4ddea0e9cc3ce486facbda25d185891ac9913c0225568304e4f" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "230206775f54290c5cecb43f7d0860d269e53bd84d1c8534d95a0e0e7f389cf5" + "sha256": "d5bbb56a8ac7bb85c3833674c2746d6ca19b70b87b41391546415bef9847e727" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "sawyer_instanceable_benchmark.json", + "name": "rethinkrobotics_sawyer_sawyer_instanceable_benchmark.json", "hash": { - "sha256": "1805f3f71adfc6c09587309065fb63823d6b22577bebedbf3deb59796128aab6" + "sha256": "880aa64c4e32322b0e4fcdce966b491f7f1d8d40ff46553feba245efc97c3796" } }, { - "name": "sawyer_instanceable_validation.json", + "name": "rethinkrobotics_sawyer_sawyer_instanceable_validation.json", "hash": { - "sha256": "06711f9d2c714dca1d2547376b1c771f4058390dec7e818b61d883b34a5d5a3d" + "sha256": "5e0edb2b28536802c83913968513cc458f43849c659de81e98e2073ecc22d391" } } ], @@ -44,6 +44,6 @@ "sha256": "3a3b204360dae181af665f0f5124359dc0a1a4ce3b025e27b789f5b7017b80cd" }, "package_hash": { - "sha256": "7430c8ca72790bc16325082b3ed54e64d4b201c1cd8a62e82b27762d2cf5a803" + "sha256": "1368316bd629cc219fd83f6a6eb83a4a27c13443eee15a08cad178017c0c6f47" } } diff --git a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 909af6b0e80bbc635922d9eed89d25ec37e14c30..b84790853a4f70ee38490a38d0e5d2f974d6f70a 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:02", + "timestamp": "2026-11-03T23:36:30", "assets": [ { "asset": "so100.usda", diff --git a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index f835b0db383e4fdceaf660f4ca2b056e9688c010..9d57affb0c07aaf08768a1224f38c7911581db47 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/robotstudio_so100/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:05", + "timestamp": "2026-11-03T23:36:32", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json index 35b14ec9a34b47c87d2e446ff579fb49a31d7ec6..56cdc7ca7ee731550bf205b9bdf95235496ce38d 100644 --- a/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_so100/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/robotstudio_so100/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/robotstudio_so100/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/so100.usda.png", diff --git a/robotstudio_so100/.metadata/so100_benchmark.json b/robotstudio_so100/.metadata/robotstudio_so100_benchmark.json similarity index 99% rename from robotstudio_so100/.metadata/so100_benchmark.json rename to robotstudio_so100/.metadata/robotstudio_so100_benchmark.json index 84cf5ca23bc6b5dfd352d9d4e62a6d8a0f2307a8..b9d870fd99b7af4b6241c1523c3378e6535d6a63 100644 --- a/robotstudio_so100/.metadata/so100_benchmark.json +++ b/robotstudio_so100/.metadata/robotstudio_so100_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "so100", + "asset": "robotstudio_so100", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/robotstudio_so100/.metadata/so100_validation.json b/robotstudio_so100/.metadata/robotstudio_so100_validation.json similarity index 97% rename from robotstudio_so100/.metadata/so100_validation.json rename to robotstudio_so100/.metadata/robotstudio_so100_validation.json index 99f9044a04a2bbe8cfde90cc4247fe908d8cdcfb..bd82eb0ee34453ac4032c07e43e555d721bfab26 100644 --- a/robotstudio_so100/.metadata/so100_validation.json +++ b/robotstudio_so100/.metadata/robotstudio_so100_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/robotstudio_so100/com.nvidia.simready.packaging.json b/robotstudio_so100/com.nvidia.simready.packaging.json index 2abd73bbcdacdbdc28e04ae66df6d85398284436..b57936644cc0730c65980eb842a2cf261c948ecb 100644 --- a/robotstudio_so100/com.nvidia.simready.packaging.json +++ b/robotstudio_so100/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so100.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so100.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "99c9c135a1381e177d296d8d4463c391f86c92f2a6f62bc8cc2a171a8a5abc81" + "sha256": "6b5e6967c121611c52cef5defb57f9f4f7c4d3e38e2e2f87bfb14907beec0eac" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "73d857d5958296d191be98760dfbb953298d9fce914116aea60f15adba09a4ac" + "sha256": "5e52deaad5a6537fc47b77fde7f6002ad4446bdec26283c4b8002f3c83eb3425" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "so100_benchmark.json", + "name": "robotstudio_so100_benchmark.json", "hash": { - "sha256": "21fb8f846380f78c6fd819309b4b35b6c1ee2b1c320ca45a6ff349072d4281e2" + "sha256": "46b97c3e89a2789137a05926d8dd46b2886b78dcef4504da52a644a437526a22" } }, { - "name": "so100_validation.json", + "name": "robotstudio_so100_validation.json", "hash": { - "sha256": "b38b886d9975b4f7b738cb29534b6e942be3991cae5173d37fb2ccee1e98680a" + "sha256": "53a546052135b76a2345021bbb7422b87a207a8797c7fd8a70bd149fd0a45452" } } ], @@ -44,6 +44,6 @@ "sha256": "cfe71331f517629b83c91b7abe07679075146d9b7fae138951a34d35570967dd" }, "package_hash": { - "sha256": "9996041152395200cf9d61138cfdf065047fc6de939e9d53c378a2da8c413cf3" + "sha256": "9f067650eafcea627fcec87e1e142106046846ca8228d3fe16bff97ae2389757" } } diff --git a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 4c430affa6b782a916114301a3bf600bd0d68636..7fd8a7ba941b568eaca97b645e928567e8ecb016 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:06", + "timestamp": "2026-11-03T23:36:33", "assets": [ { "asset": "so101_new_calib.usda", diff --git a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index cc3ed5aed3749202a52081fbf5c91f39b38ad35a..42f8c36d1cf9d970aa1dc9dc47144d89c24e8739 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:09", + "timestamp": "2026-11-03T23:36:35", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json index dee6b151c6cd152f593fff6c3eec2305e41d6e6d..f91747966c2b09c5c7801315405fa1d21569e52e 100644 --- a/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/robotstudio_so101_new_calib/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/robotstudio_so101_new_calib/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/so101_new_calib.usda.png", diff --git a/robotstudio_so101_new_calib/.metadata/so101_new_calib_benchmark.json b/robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_benchmark.json similarity index 99% rename from robotstudio_so101_new_calib/.metadata/so101_new_calib_benchmark.json rename to robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_benchmark.json index b27974bebfc7bdc68c6672f9c443c7f54ef22bc3..dbebf5c5eea6a6907eb2eba2725c8209003ab2ec 100644 --- a/robotstudio_so101_new_calib/.metadata/so101_new_calib_benchmark.json +++ b/robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "so101_new_calib", + "asset": "robotstudio_so101_new_calib", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/robotstudio_so101_new_calib/.metadata/so101_new_calib_validation.json b/robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_validation.json similarity index 97% rename from robotstudio_so101_new_calib/.metadata/so101_new_calib_validation.json rename to robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_validation.json index bbcaf54acbd86d96bd82ae134721112a6c4576fe..43855674073fb6c2479ea7f0115afaa147c98277 100644 --- a/robotstudio_so101_new_calib/.metadata/so101_new_calib_validation.json +++ b/robotstudio_so101_new_calib/.metadata/robotstudio_so101_new_calib_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json b/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json index e976ec48b0594d7238e4a7d95c3ed60e385333cb..5aff64b77c2ab3eed2025830037f6fbac0de714f 100644 --- a/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json +++ b/robotstudio_so101_new_calib/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so101_new_calib.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_so101_new_calib.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a910ffeea90ee6d7bc8545cc6e7abb766bd9b844a0640d8b94aaf68185c2b730" + "sha256": "5372f06502a1a827524dbb839419eb244d56da9c9f361e1001424e64075d6cfc" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "0c2580e62b59d3e17f38eaa28fc36da2a9726c36db5df4ee443095cf5e205f61" + "sha256": "ed7eed11b6d1a508dcc5b89e706105deebf4301872c64cef19949fb162f20b27" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "so101_new_calib_benchmark.json", + "name": "robotstudio_so101_new_calib_benchmark.json", "hash": { - "sha256": "3dd627e504622ffb590664276cfd013594e079aa43922b216bf273d1bae61118" + "sha256": "86b0c75446f4ca5c517f2c638d67fbe78464e8d079b0756088ecbf5ed4ef0680" } }, { - "name": "so101_new_calib_validation.json", + "name": "robotstudio_so101_new_calib_validation.json", "hash": { - "sha256": "398c2966cf3a40477aadc67b99a35a43b0b8153748017a6235043b6803cde7bb" + "sha256": "5e09177fbb7fa354d6632d4e5a27ccb689c020e49e1550331125a62c376ce5bd" } } ], @@ -44,6 +44,6 @@ "sha256": "4bbbbcf1b8938cfc18b6f745446899ae1eabe1893ce4062228535759cf48480a" }, "package_hash": { - "sha256": "719781f47bcbd5e1ccbbda38a777613b65607afedaff302961bf76138effd7df" + "sha256": "a28c4d66af82dbb7256a35ce887710e4703d8063fdf57af8b445a53439b5569f" } } diff --git a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index d80dd81c5e5b59226111258b4ba65f6c10555925..209a01b5a32fcd7e1c034fc876fc8a2dab17f759 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:26:58", + "timestamp": "2026-11-03T23:36:27", "assets": [ { "asset": "so101_new_calib.usda", diff --git a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index cf47e2790d2ed8e843431c4eba72c887c2d72d73..6ff0ec36983b6e6ed5f3f6a44abd0800602d0b7b 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:01", + "timestamp": "2026-11-03T23:36:29", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json index 8ff8f563f43bec5b45743d51c09704830a759528..d3610195cf9b65931c7ea62bd5208e8a20d90021 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json +++ b/robotstudio_sysid_so101_new_calib/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/robotstudio_sysid_so101_new_calib/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/robotstudio_sysid_so101_new_calib/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/so101_new_calib.usda.png", diff --git a/robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_benchmark.json b/robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_benchmark.json similarity index 99% rename from robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_benchmark.json rename to robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_benchmark.json index 17aad53305714b97e44e996624549cd9f4f8147d..478e2b959af76adeb1ce63772a88d6766d3a7356 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_benchmark.json +++ b/robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "so101_new_calib", + "asset": "robotstudio_sysid_so101_new_calib", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_validation.json b/robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_validation.json similarity index 97% rename from robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_validation.json rename to robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_validation.json index bbcaf54acbd86d96bd82ae134721112a6c4576fe..43855674073fb6c2479ea7f0115afaa147c98277 100644 --- a/robotstudio_sysid_so101_new_calib/.metadata/so101_new_calib_validation.json +++ b/robotstudio_sysid_so101_new_calib/.metadata/robotstudio_sysid_so101_new_calib_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json b/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json index f71bad5784b77cf84a6a5b6af5d7c4c6cea559fa..220662bfa24501553a130928b68c9c4de53dbd4d 100644 --- a/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json +++ b/robotstudio_sysid_so101_new_calib/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_sysid_so101_new_calib.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.robotstudio_sysid_so101_new_calib.3.0.2", "license": "Apache-2.0", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a3498aadff32a837e1d6e1317e52f83640ab15c90c0d414d4f48b4c3b77523fc" + "sha256": "c507c8e6898f27d4f919a2cbfad61fe412e0a5bb7cf455f8edf90c416e51d546" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "f40effe4856e2602475d022d175e39bccd794075828ad09a004f333035d47592" + "sha256": "2bf9b4f3cb3e4b652d7be1aa954ac34f789b10a0f6a73726cf39d602e66825fd" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "so101_new_calib_benchmark.json", + "name": "robotstudio_sysid_so101_new_calib_benchmark.json", "hash": { - "sha256": "0c5aec99b4902da3f7ff3aa1e3fe0bda784720f9628f9a879bcc8422248dae76" + "sha256": "d69ce27c6ed883814f60fe248451bf787061fbbe19145db59d2d7c5c185c263b" } }, { - 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}, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 6, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 6, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - 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"error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 15700.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755982988, - "start": 0.0, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 39, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.985, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 6, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.484, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 6, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 80.67, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.579, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 6, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 6, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987707818867, - "start": -4.816412157993e-09, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 119, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987554799705, - "start": -2.011832833659355e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 119, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987400472736, - "start": -3.5551025234781264e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 97, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987542255179, - "start": -2.137278087843697e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 97, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5237013781912593, - "start": 0.0001026025929604657, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 97, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987791416262, - "start": 3.54332740926111e-09, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 97, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 52.406, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "wrist_3_joint", - "body_path": "/World/AssetRoot/Asset/link_6", - "direction": "-XZ", - "world_com": [ - -0.0005134267848916352, - -0.26945000886917114, - 1.4651483297348022 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.376, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 19.11, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.156, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 6, - "unit": null - }, - "eff_joints_passed": { - "value": 6, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "shoulder_1_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "shoulder_2_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "elbow_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_1_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_2_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_3_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_1", - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_2", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_3", - "runtime_lower": -2.8972465991973877, - "runtime_upper": 2.8972465991973877, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_4", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_5", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link_6", - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "effort_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.672, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.516, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 7.17, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.938, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "shoulder_1_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "shoulder_2_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "elbow_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_1_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_2_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "wrist_3_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "eff_joints_tested": { - "value": 6, - "unit": null - }, - "eff_joints_passed": { - "value": 6, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_failure_names": { - "value": [], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_1", - "runtime_lower": -4.71238899230957, - 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"unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_2", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_3", - "runtime_lower": -2.8972465991973877, - "runtime_upper": 2.8972465991973877, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_4", - 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"channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_5", - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link_6", - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 195.938, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 49.78333333333333, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 11948, - "planned_nominal_ticks_estimate": 11948, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 195.8279999999795, - "setup_elapsed_wall_seconds": 2.265999999945052, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3164.1720000000205, - "observed_service_seconds_per_nominal_tick": 0.01620036826247359, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 176.92400000081398, - "attempts": 11948 - }, - "captures": { - "wall_seconds": 2.561000000103377, - "attempts": 94 - }, - "bounds": { - "wall_seconds": 3.5619999985210598, - "attempts": 564 - }, - "camera": { - "wall_seconds": 0.848000000230968, - "attempts": 11060 - }, - "optional_motion": { - "wall_seconds": 2.0660000001080334, - "attempts": 11808 - }, - "commands": { - "wall_seconds": 3.3019999999087304, - "attempts": 11708 - }, - "encoding": { - "wall_seconds": 2.952999999979511, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 6, - "unit": null - }, - "frs_joints_tested": { - "value": 6, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - 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"initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010241978770878984 - }, - { - "joint": "wrist_3_joint", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.5132391452789307, - "ramp_seconds": 3.25, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.005943452192909149 - }, - { - "joint": "wrist_3_joint", - "segment": "to_zero", - "requested_start": -2.5132741228718345, - "observed_start": -2.5132534503936768, - "ramp_seconds": 1.75, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010241894527354134 - } - ], - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 93, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 5.88, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.094, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "frs_segment_timing_omitted": { - "value": 0, - "unit": null - }, - "frs_joints_passed": { - "value": 6, - "unit": null - }, - "frs_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_frs_joint_001": { - "value": { - "schema_version": 1, - "name": "frs_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.094395160675049, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 614, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 2.094395160675049, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 619, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.8972465991973877, - "runtime_upper": 2.8972465991973877, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 411, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 437, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.1415927410125732, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 434, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -4.71238899230957, - "runtime_upper": 4.71238899230957, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1415927410125732, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 434, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 1.094, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.344, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.516, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 2.516, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Techman/TM12/simready_usd/tm12.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, no [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 4.563, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Techman/TM12/simready_usd/tm12.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, no [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 50.531, - "message": "", - "metrics": { - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 6, - "unit": null - }, - "jik_robot_reach": { - "value": 0.8256, - "unit": null - }, - "jik_target_radius": { - "value": 0.7431, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - "value": 0.0, - "unit": null - }, - "jik_max_observed_reach": { - "value": 1.3157, - "unit": null - }, - "jik_distinct_reachable_targets": { - "value": 5, - "unit": null - }, - "jik_guard_reference": { - 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"timing_basis": "phase entry through initial settling, FK sampling and solver search; excludes prior scene setup and subsequent playback/video/cleanup" - }, - "unit": null - }, - "motion_history_jik_target_000_joint_000": { - "value": { - "schema_version": 1, - "name": "jik_target_000_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 112, - "json": "motion_history/jik_target_000_joint_000.json", - "csv": "motion_history/jik_target_000_joint_000.csv" - }, - "unit": null - }, - "motion_history_jik_target_000_joint_001": { - "value": { - "schema_version": 1, - "name": "jik_target_000_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 112, - "json": "motion_history/jik_target_000_joint_001.json", - "csv": "motion_history/jik_target_000_joint_001.csv" - }, - "unit": null - }, - "motion_history_jik_target_000_joint_002": { - "value": { - "schema_version": 1, - "name": "jik_target_000_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - 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"source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 158, - "json": "motion_history/jik_target_000_joint_004.json", - "csv": "motion_history/jik_target_000_joint_004.csv" - }, - "unit": null - }, - "motion_history_jik_target_000_joint_005": { - "value": { - "schema_version": 1, - "name": "jik_target_000_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 0, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 158, - "json": "motion_history/jik_target_000_joint_005.json", - "csv": "motion_history/jik_target_000_joint_005.csv" - }, - "unit": null - }, - "motion_history_jik_target_001_joint_000": { - "value": { - "schema_version": 1, - "name": "jik_target_001_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "shoulder_1_joint", - "unit": "rad", - 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} - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 221, - "json": "motion_history/jik_target_001_joint_001.json", - "csv": "motion_history/jik_target_001_joint_001.csv" - }, - "unit": null - }, - "motion_history_jik_target_001_joint_002": { - "value": { - "schema_version": 1, - "name": "jik_target_001_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 221, - "json": "motion_history/jik_target_001_joint_002.json", - "csv": "motion_history/jik_target_001_joint_002.csv" - }, - "unit": null - }, - "motion_history_jik_target_001_joint_003": { - "value": { - "schema_version": 1, - "name": "jik_target_001_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 221, - "json": "motion_history/jik_target_001_joint_003.json", - "csv": "motion_history/jik_target_001_joint_003.csv" - }, - "unit": null - }, - "motion_history_jik_target_001_joint_004": { - "value": { - "schema_version": 1, - "name": "jik_target_001_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 221, - "json": "motion_history/jik_target_001_joint_004.json", - "csv": "motion_history/jik_target_001_joint_004.csv" - }, - "unit": null - }, - "motion_history_jik_target_001_joint_005": { - "value": { - "schema_version": 1, - "name": "jik_target_001_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 1, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 221, - "json": "motion_history/jik_target_001_joint_005.json", - "csv": "motion_history/jik_target_001_joint_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 109.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.968, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 199.29, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.125, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_shoulder_1_joint_rot_deg": { - "value": 179.863, - "unit": null - }, - "jm_joint_shoulder_1_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_shoulder_1_joint_bbox_m": { - "value": 0.2964, - "unit": null - }, - "jm_joint_shoulder_1_joint_translation_stage_units": { - "value": 1.4901161193847683e-07, - "unit": null - }, - "jm_joint_shoulder_1_joint_bbox_diagonal_stage_units": { - "value": 0.296382242033223, - "unit": null - }, - "jm_joint_shoulder_1_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_shoulder_1_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_shoulder_1_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_shoulder_1_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_shoulder_1_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_shoulder_1_joint_pct_of_travel": { - "value": 66.6, - "unit": null - }, - "jm_joint_shoulder_1_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_shoulder_2_joint_rot_deg": { - "value": 180.0, - "unit": null - }, - "jm_joint_shoulder_2_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_shoulder_2_joint_bbox_m": { - "value": 0.8122, - "unit": null - }, - "jm_joint_shoulder_2_joint_translation_stage_units": { - "value": 5.55111512312595e-17, - "unit": null - }, - "jm_joint_shoulder_2_joint_bbox_diagonal_stage_units": { - "value": 0.8122122831648185, - "unit": null - }, - "jm_joint_shoulder_2_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_shoulder_2_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_shoulder_2_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_shoulder_2_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_shoulder_2_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_shoulder_2_joint_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_shoulder_2_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_elbow_joint_rot_deg": { - "value": 166.0, - "unit": null - }, - "jm_joint_elbow_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_elbow_joint_bbox_m": { - "value": 0.6817, - "unit": null - }, - "jm_joint_elbow_joint_translation_stage_units": { - "value": 3.967395148292986e-07, - "unit": null - }, - "jm_joint_elbow_joint_bbox_diagonal_stage_units": { - "value": 0.6816555897995029, - "unit": null - }, - "jm_joint_elbow_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_elbow_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_elbow_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_elbow_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_elbow_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_elbow_joint_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_elbow_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_wrist_1_joint_rot_deg": { - "value": 180.0, - "unit": null - }, - "jm_joint_wrist_1_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_wrist_1_joint_bbox_m": { - "value": 0.1761, - "unit": null - }, - "jm_joint_wrist_1_joint_translation_stage_units": { - "value": 4.461857506980218e-07, - "unit": null - }, - "jm_joint_wrist_1_joint_bbox_diagonal_stage_units": { - "value": 0.17605020846880098, - "unit": null - }, - "jm_joint_wrist_1_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_wrist_1_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_wrist_1_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_wrist_1_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_wrist_1_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_wrist_1_joint_pct_of_travel": { - 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"value": "stage_length", - "unit": null - }, - "jm_joint_wrist_2_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_wrist_2_joint_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_wrist_2_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_wrist_3_joint_rot_deg": { - "value": 179.987, - "unit": null - }, - "jm_joint_wrist_3_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_wrist_3_joint_bbox_m": { - "value": 0.2075, - "unit": null - }, - "jm_joint_wrist_3_joint_translation_stage_units": { - "value": 9.482500603392576e-08, - "unit": null - }, - "jm_joint_wrist_3_joint_bbox_diagonal_stage_units": { - "value": 0.207525672307293, - "unit": null - }, - "jm_joint_wrist_3_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_wrist_3_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_wrist_3_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_wrist_3_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_wrist_3_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_wrist_3_joint_pct_of_travel": { - "value": 66.7, - "unit": null - }, - "jm_joint_wrist_3_joint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 6, - "unit": null - }, - "jm_joints_passed": { - "value": 6, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_shoulder_1_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_shoulder_2_joint_status": { - "value": "passed", - "unit": null - }, - "jm_joint_elbow_joint_status": { - "value": "passed", - "unit": null - }, - 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}, - "metadata": { - "joint_name": "shoulder_1_joint", - "authored_joint_name": "shoulder_1_joint", - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "child_body_path": "/World/AssetRoot/Asset/link_1", - "parent_body_path": "/World/AssetRoot/Asset/link_0", - "reference_frame": "/World/AssetRoot/Asset/link_0", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "shoulder_2_joint", - "authored_joint_name": "shoulder_2_joint", - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "child_body_path": "/World/AssetRoot/Asset/link_2", - "parent_body_path": "/World/AssetRoot/Asset/link_1", - "reference_frame": "/World/AssetRoot/Asset/link_1", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "elbow_joint", - "authored_joint_name": "elbow_joint", - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "child_body_path": "/World/AssetRoot/Asset/link_3", - "parent_body_path": "/World/AssetRoot/Asset/link_2", - "reference_frame": "/World/AssetRoot/Asset/link_2", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_1_joint", - "authored_joint_name": "wrist_1_joint", - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "child_body_path": "/World/AssetRoot/Asset/link_4", - "parent_body_path": "/World/AssetRoot/Asset/link_3", - "reference_frame": "/World/AssetRoot/Asset/link_3", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_2_joint", - "authored_joint_name": "wrist_2_joint", - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "child_body_path": "/World/AssetRoot/Asset/link_5", - "parent_body_path": "/World/AssetRoot/Asset/link_4", - "reference_frame": "/World/AssetRoot/Asset/link_4", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_3_joint", - "authored_joint_name": "wrist_3_joint", - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "child_body_path": "/World/AssetRoot/Asset/link_6", - "parent_body_path": "/World/AssetRoot/Asset/link_5", - "reference_frame": "/World/AssetRoot/Asset/link_5", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "shoulder_1_joint", - "authored_joint_name": "shoulder_1_joint", - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "child_body_path": "/World/AssetRoot/Asset/link_1", - "parent_body_path": "/World/AssetRoot/Asset/link_0", - "reference_frame": "/World/AssetRoot/Asset/link_0", - 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"measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "elbow_joint", - "authored_joint_name": "elbow_joint", - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "child_body_path": "/World/AssetRoot/Asset/link_3", - "parent_body_path": "/World/AssetRoot/Asset/link_2", - "reference_frame": "/World/AssetRoot/Asset/link_2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_1_joint", - "authored_joint_name": "wrist_1_joint", - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "child_body_path": "/World/AssetRoot/Asset/link_4", - "parent_body_path": "/World/AssetRoot/Asset/link_3", - "reference_frame": "/World/AssetRoot/Asset/link_3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_2_joint", - "authored_joint_name": "wrist_2_joint", - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "child_body_path": "/World/AssetRoot/Asset/link_5", - "parent_body_path": "/World/AssetRoot/Asset/link_4", - "reference_frame": "/World/AssetRoot/Asset/link_4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "wrist_3_joint", - "authored_joint_name": "wrist_3_joint", - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "child_body_path": "/World/AssetRoot/Asset/link_6", - "parent_body_path": "/World/AssetRoot/Asset/link_5", - "reference_frame": "/World/AssetRoot/Asset/link_5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 66.0, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 34.842, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1161.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.047, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.940365, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.018585, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 66.0, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 34.842, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1161.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.047, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.758621, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 22, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.940365, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.018585, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.312, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.938, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 387.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 27, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 50, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 13591, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.312, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.938, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 387.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 27, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 27, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 50, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 13591, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 28.579, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 6, - "unit": null - }, - "mjc_valid_joints": { - "value": 6, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "shoulder_1_joint", - "index": 0, - "displacement": 1.5079644775390624, - "velocity_hint": 2.0943951023931953, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.130973358154297, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.004705844007598028 - }, - { - "name": "shoulder_2_joint", - "index": 1, - "displacement": 1.0053096771240235, - "velocity_hint": 2.0943951023931953, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7539822578430176, - "initial_command_clipped": false, - 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"partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.656, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 6, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.423, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 60, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 7.05, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.5, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 6, - "unit": null - }, - "sta_joints_passed": { - "value": 6, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.012526149524774448, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 182, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 185, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.547, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.828, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 6, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 138.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.906, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 22, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 18, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1000.0, - "damping": 100.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 19, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.625, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.422, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 21, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 20.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.031, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "shoulder_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_0/shoulder_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "shoulder_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_1/shoulder_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 11031.25, - "damping": 0.0, - "max_force": 35300.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 112, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "elbow_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_2/elbow_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3270.833251953125, - "damping": 0.0, - "max_force": 15700.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 74, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_1_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_3/wrist_1_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 79, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_2_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_4/wrist_2_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 79, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "wrist_3_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link_5/wrist_3_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1125.0, - "damping": 0.0, - "max_force": 5400.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 113, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/techman_tm12/.metadata/tm12_validation.json b/techman_tm12/.metadata/tm12_validation.json deleted file mode 100644 index f1a4c07fe97672de85c329165bb511030e2226d7..0000000000000000000000000000000000000000 --- a/techman_tm12/.metadata/tm12_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/tm12.usda": { - "features_summary": { - 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}, - "package_hash": { - "sha256": "31aab5112e75ca1212f871267b495c5f5e671a905ac60faa773d285d46cf76bb" - } -} diff --git a/techman_tm12/materials/mdl/OmniPBR.mdl b/techman_tm12/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/techman_tm12/materials/mdl/OmniPBRBase.mdl b/techman_tm12/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/techman_tm12/materials/mdl/OmniPBR_ClearCoat.mdl b/techman_tm12/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/techman_tm12/materials/mdl/aux_definitions.mdl b/techman_tm12/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/techman_tm12/materials/mdl/core_definitions.mdl b/techman_tm12/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/techman_tm12/materials/mdl/license.txt b/techman_tm12/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/techman_tm12/materials/mdl/support_definitions.mdl b/techman_tm12/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/techman_tm12/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/techman_tm12/payloads/Physics/mujoco.usda b/techman_tm12/payloads/Physics/mujoco.usda deleted file mode 100644 index 5578a65e5f9c7fe2df908017459304466a5a8113..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,164 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "tm12" -{ - over "base" - { - over "base_fixed_joint" - { - } - } - - over "root_joint" - { - } - - over "link_0" - { - over "shoulder_1_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_1" - { - over "shoulder_2_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_2" - { - over "elbow_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_3" - { - over "wrist_1_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_4" - { - over "wrist_2_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_5" - { - over "wrist_3_joint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - } - - over "link_6" - { - over "flange_fixed_joint" - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "flange_link" - { - over "flange_link_tool0" - { - } - } - - over "tool0" - { - over "Tm12_Camera" - { - } - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/techman_tm12/payloads/Physics/physics.usda b/techman_tm12/payloads/Physics/physics.usda deleted file mode 100644 index 06deee94864bd620d6d8e0f91d75fd0b4f9b7d4c..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/Physics/physics.usda +++ /dev/null @@ -1,348 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "tm12" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "base" ( - ) - { - def PhysicsFixedJoint "base_fixed_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "link_0" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.0011083329, 0.0011083329, 0.0018) - float physics:mass = 1 - - def PhysicsRevoluteJoint "shoulder_1_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 35300 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.1652) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.020289334, 0.020289334, 0.021396272) - float physics:mass = 7.6 - - def PhysicsRevoluteJoint "shoulder_2_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 35300 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1.4901161e-7, -0.7071066, -0.7071068, 8.940697e-8) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.07150572, 1.1758789, 1.2033933) - float physics:mass = 14.0239 - - def PhysicsRevoluteJoint "elbow_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 15700 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.6361, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -166 - float physics:upperLimit = 166 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.009755469, 0.16334718, 0.16656677) - float physics:mass = 3.3577 - - def PhysicsRevoluteJoint "wrist_1_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 5400 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.5579, 0, -0.1563) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.50000006, 0.4999999, -0.50000006, 0.4999999) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.002058405, 0.002563079, 0.00264321) - float physics:mass = 1.576 - - def PhysicsRevoluteJoint "wrist_2_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 5400 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, -0.106, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.50000006, 0.4999999, -0.50000006, -0.4999999) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -180 - float physics:upperLimit = 180 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.002058405, 0.002563079, 0.00264321) - float physics:mass = 1.576 - - def PhysicsRevoluteJoint "wrist_3_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 100 - float drive:angular:physics:maxForce = 5400 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (-0.00009758154, -0.1131499, -0.00005177066) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.50000006, 0.4999999, -0.50000006, -0.4999999) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -270 - float physics:upperLimit = 270 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link_6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (0.000774544, 0.001383811, 0.001559496) - float physics:mass = 0.65 - - def PhysicsFixedJoint "flange_fixed_joint" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - - over "flange_link" ( - ) - { - def PhysicsFixedJoint "flange_link_tool0" - { - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "tool0" ( - ) - { - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - } -} - -def PhysicsScene "physicsScene" -{ - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 -} diff --git a/techman_tm12/payloads/Physics/physx.usda b/techman_tm12/payloads/Physics/physx.usda deleted file mode 100644 index 6597fe9f1f173543581239b2724ee29137be58df..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/Physics/physx.usda +++ /dev/null @@ -1,142 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "tm12" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base" ( - ) - { - } - - over "link_0" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "shoulder_1_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120 - } - } - - over "link_1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "shoulder_2_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120 - } - } - - over "link_2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "elbow_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link_3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "wrist_1_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link_4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "wrist_2_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link_5" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "wrist_3_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - } - } - - over "link_6" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "flange_link" ( - ) - { - } - } -} - -over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] -) -{ - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - uniform token physxScene:solverType = "TGS" -} - diff --git a/techman_tm12/payloads/base.usda b/techman_tm12/payloads/base.usda deleted file mode 100644 index 1bd254176ecb2b30163eb79b3122eefab108bb21..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/base.usda +++ /dev/null @@ -1,555 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "tm12" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "base" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "link_0" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals" - { - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_1" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.16519999504089355) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_1" - { - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_2" - { - quatd xformOp:orient = (0.5000001788139343, -0.4999999701976776, -0.4999999701976776, -0.4999998211860657) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.16519999504089355) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_2" - { - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_3" - { - quatd xformOp:orient = (0.5000001788139343, -0.4999999701976776, -0.4999999701976776, -0.4999998211860657) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (1.7881393432617188e-7, -5.960464477539063e-8, 0.8012999296188354) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_3" - { - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_4" - { - quatd xformOp:orient = (0.7071067690849304, -0.7071067094802856, -1.1920928955078125e-7, 1.1920928955078125e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (3.8743019104003906e-7, -0.15630008280277252, 1.35919988155365) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_4" - { - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_5" - { - quatd xformOp:orient = (0.9999998807907104, -8.940696716308594e-8, -2.842170943040401e-14, 1.6858739115832577e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (3.8743019104003906e-7, -0.15630008280277252, 1.4651998281478882) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_5" - { - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link_6" - { - quatd xformOp:orient = (0.70710688829422, 0.7071065306663513, 1.192092469182171e-7, 1.1920931797249068e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (4.255815042597533e-7, -0.26945003867149353, 1.4651998281478882) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - over "visuals_6" - { - over "material_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - - over "material_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - } - } - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "flange_link" - { - quatd xformOp:orient = (0.70710688829422, 0.7071065306663513, 1.192092469182171e-7, 1.1920931797249068e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (4.255815042597533e-7, -0.26945003867149353, 1.4651998281478882) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "tool0" - { - quatd xformOp:orient = (0.70710688829422, 0.7071065306663513, 1.192092469182171e-7, 1.1920931797249068e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (4.255815042597533e-7, -0.26945003867149353, 1.4651998281478882) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Camera "Tm12_Camera" - { - float focalLength = 24 - float focusDistance = 400 - custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400) - quatd xformOp:orient = (6.123233995736766e-17, 6.123233995736766e-17, 1, 6.123233995736766e-17) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.00034269540112144976, 0.07484554695861911, 0.04845830019598468) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/techman_tm12/payloads/geometries.usd b/techman_tm12/payloads/geometries.usd deleted file mode 100644 index b0d852e614b9b4e9c080a78943a18777adc896ad..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:69afc8e8550562abbb3f8a66945365b7368cd6ddeddba86e35171a25b3046903 -size 19050570 diff --git a/techman_tm12/payloads/instances.usda b/techman_tm12/payloads/instances.usda deleted file mode 100644 index 02c4144a69db1a0187c440227665fb0cb25a3e59..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/instances.usda +++ /dev/null @@ -1,1594 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_DEFAULT_MTL" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.708375, 0.73791, 0.760525) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL0" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.651405, 0.651405, 0.651406) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.009721, 0.009721, 0.009721) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_DEFAULT_MTL_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL0_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL3" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.961, 0.961, 0.961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_DEFAULT_MTL_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL0_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.961, 0.961, 0.961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL5" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.72, 0.74, 0.77) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL6" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_MTL0_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_3" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.964685, 0.964685, 0.964686) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL3_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.723054, 0.73791, 0.768151) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL5_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.708375, 0.73791, 0.760525) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL6_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_3" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_3" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_4" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_4" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_MTL0_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_3" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.961, 0.961, 0.961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL3_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL5_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.723054, 0.73791, 0.768151) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_4" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_4" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_5" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_5" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_MTL0_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_3" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.961, 0.961, 0.961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL3_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL5_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.723054, 0.73791, 0.768151) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_5" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_5" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_6" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_6" - { - over "material_0" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "material_6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_DEFAULT_MTL_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL0_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.651405, 0.651405, 0.651406) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL1_4" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.076185, 0.076185, 0.076185) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL2_1" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL3_3" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.708375, 0.73791, 0.760525) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL4_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.527115, 0.539479, 0.558341) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_MTL6_2" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.723054, 0.73791, 0.768151) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_6" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_6" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } -} - diff --git a/techman_tm12/payloads/materials.usda b/techman_tm12/payloads/materials.usda deleted file mode 100644 index 094d22de4777f3b45acdea4876ba7236a7ba9734..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/materials.usda +++ /dev/null @@ -1,914 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_DEFAULT_MTL" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.708375, 0.73791, 0.760525) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.708375, 0.73791, 0.760525) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL0" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.651405, 0.651405, 0.651406) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.651405, 0.651405, 0.651406) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL2" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.009721, 0.009721, 0.009721) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.009721, 0.009721, 0.009721) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_DEFAULT_MTL_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL0_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.132868, 0.132868, 0.147027) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.132868, 0.132868, 0.147027) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL1_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.201556, 0.168269, 0.168269) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.201556, 0.168269, 0.168269) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL2_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.035601, 0.035601, 0.035601) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.035601, 0.035601, 0.035601) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL3" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.961, 0.961, 0.961) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.961, 0.961, 0.961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL4" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.361306, 0.361306, 0.361307) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.361306, 0.361306, 0.361307) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL5" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.72, 0.74, 0.77) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.72, 0.74, 0.77) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL2_3" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.964685, 0.964685, 0.964686) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.964685, 0.964685, 0.964686) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL4_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.723054, 0.73791, 0.768151) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.723054, 0.73791, 0.768151) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL1_4" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.076185, 0.076185, 0.076185) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.076185, 0.076185, 0.076185) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_MTL4_2" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.527115, 0.539479, 0.558341) - color3f inputs:emissive_color = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.527115, 0.539479, 0.558341) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/techman_tm12/payloads/robot.usda b/techman_tm12/payloads/robot.usda deleted file mode 100644 index 116cf2a1b4c9316f1050936e9bb1283c999b1889..0000000000000000000000000000000000000000 --- a/techman_tm12/payloads/robot.usda +++ /dev/null @@ -1,280 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "tm12" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string[] isaac:changelog ( - displayName = "Changelog" - ) - string isaac:description ( - displayName = "Description" - ) - token isaac:license ( - displayName = "License" - ) - string isaac:namespace ( - displayName = "Namespace" - ) - rel isaac:physics:robotJoints ( - displayName = "Robot Joints" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - ] - rel isaac:physics:robotLinks ( - displayName = "Robot Links" - ) - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" ( - displayName = "Robot Type" - ) - string isaac:source ( - displayName = "Source" - ) - string isaac:version ( - displayName = "Version" - ) - - over "base" - { - string isaac:nameOverride - - over "base_fixed_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "link_0" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "shoulder_1_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "shoulder_2_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "elbow_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "wrist_1_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "wrist_2_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "wrist_3_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "link_6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "flange_fixed_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "flange_link" - { - string isaac:nameOverride - - over "flange_link_tool0" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "tool0" - { - string isaac:nameOverride - } - } -} diff --git a/techman_tm12/runnables/physics/mujoco.usda b/techman_tm12/runnables/physics/mujoco.usda deleted file mode 100644 index 1700c7c48c538960b55fee4f4a5f4a81c60b6c32..0000000000000000000000000000000000000000 --- a/techman_tm12/runnables/physics/mujoco.usda +++ /dev/null @@ -1,228 +0,0 @@ -#usda 1.0 -( - defaultPrim = "tm12" -) - -def "tm12" -{ - over "link_0" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "shoulder_1_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_1" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "shoulder_2_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_2" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "elbow_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_3" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_1_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_4" - { - over "collisions" - { - over "collisions_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_2_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_5" - { - over "collisions" - { - over "collisions_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_3_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link_6" - { - over "collisions" - { - over "collisions_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_tm12_link_0_shoulder_1_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 35300 - double mjc:forceRange:min = -35300 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_tm12_link_1_shoulder_2_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 35300 - double mjc:forceRange:min = -35300 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_tm12_link_2_elbow_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 15700 - double mjc:forceRange:min = -15700 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_tm12_link_3_wrist_1_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5400 - double mjc:forceRange:min = -5400 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_tm12_link_4_wrist_2_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5400 - double mjc:forceRange:min = -5400 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_tm12_link_5_wrist_3_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -57295.77951308232, -5729.5779513082325] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5400 - double mjc:forceRange:min = -5400 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/techman_tm12/runnables/physics/newton.usda b/techman_tm12/runnables/physics/newton.usda deleted file mode 100644 index fcce23eda5842add98ae71b874358bb762262300..0000000000000000000000000000000000000000 --- a/techman_tm12/runnables/physics/newton.usda +++ /dev/null @@ -1,163 +0,0 @@ -#usda 1.0 -( - defaultPrim = "tm12" -) - -over "tm12" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "link_0" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "shoulder_1_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 11031.25 - float newton:damping = 367.70834 - float newton:velocityLimit = 120 - } - } - - over "link_1" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "shoulder_2_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 11031.25 - float newton:damping = 367.70834 - float newton:velocityLimit = 120 - } - } - - over "link_2" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "elbow_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3270.8333 - float newton:damping = 109.02778 - float newton:velocityLimit = 180 - } - } - - over "link_3" - { - over "collisions" - { - over "collisions_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_1_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 1125 - float newton:damping = 37.5 - float newton:velocityLimit = 180 - } - } - - over "link_4" - { - over "collisions" - { - over "collisions_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_2_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 1125 - float newton:damping = 37.5 - float newton:velocityLimit = 180 - } - } - - over "link_5" - { - over "collisions" - { - over "collisions_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "wrist_3_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 1125 - float newton:damping = 37.5 - float newton:velocityLimit = 180 - } - } - - over "link_6" - { - over "collisions" - { - over "collisions_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } -} - diff --git a/techman_tm12/runnables/physics/physx.usda b/techman_tm12/runnables/physics/physx.usda deleted file mode 100644 index eb4b1fba0ab86d4718026343c51c0c20f4a18a38..0000000000000000000000000000000000000000 --- a/techman_tm12/runnables/physics/physx.usda +++ /dev/null @@ -1,217 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "tm12" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 16 - - over "base" ( - ) - { - } - - over "link_0" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "shoulder_1_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 120 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - token physics:approximation = "convexHull" - uchar[] physxCookedData:convexHull:buffer = [9, 172, 186, 180, 177, 203, 22, 232, 151, 74, 34, 37, 202, 163, 39, 113, 210, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 45, 0, 0, 0, 107, 128, 0, 0, 64, 0, 0, 0, 214, 0, 0, 0, 113, 32, 196, 61, 232, 108, 1, 189, 182, 104, 129, 60, 142, 206, 121, 61, 113, 204, 50, 189, 184, 30, 133, 61, 80, 169, 146, 61, 80, 169, 146, 189, 240, 77, 83, 60, 113, 32, 196, 61, 232, 108, 1, 61, 182, 104, 129, 60, 254, 129, 146, 61, 70, 125, 146, 61, 110, 248, 93, 60, 44, 182, 137, 61, 153, 15, 8, 61, 184, 30, 133, 61, 94, 46, 34, 61, 12, 115, 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1, 14, 12, 13, 8, 28, 19, 0, 0, 128, 191, 215, 229, 71, 61, 48, 168, 144, 62, 119, 210, 230, 60, 119, 210, 230, 60] - } - } - } - - over "link_4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "wrist_2_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 180 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "collisions" - { - over "collisions_4" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - token physics:approximation = "convexHull" - uchar[] physxCookedData:convexHull:buffer = [9, 228, 124, 194, 10, 179, 176, 109, 19, 157, 53, 78, 139, 32, 183, 221, 124, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 48, 0, 0, 0, 80, 128, 0, 0, 34, 0, 0, 0, 160, 0, 0, 0, 89, 110, 28, 188, 209, 34, 91, 189, 166, 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- prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 - - over "collisions" - { - over "collisions_6" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - token physics:approximation = "convexHull" - uchar[] physxCookedData:convexHull:buffer = [9, 143, 41, 154, 33, 41, 6, 252, 99, 144, 104, 55, 47, 155, 196, 44, 113, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 34, 0, 0, 0, 96, 128, 0, 0, 64, 0, 0, 0, 192, 0, 0, 0, 240, 166, 219, 188, 28, 181, 194, 61, 149, 70, 76, 61, 177, 108, 230, 58, 126, 85, 206, 61, 146, 230, 79, 61, 0, 0, 0, 0, 68, 191, 214, 61, 214, 59, 92, 188, 6, 216, 7, 189, 73, 190, 178, 61, 140, 216, 39, 189, 231, 111, 2, 189, 16, 122, 150, 61, 224, 17, 85, 61, 100, 58, 244, 60, 115, 216, 253, 188, 140, 219, 104, 189, 172, 30, 48, 61, 9, 81, 190, 185, 140, 219, 104, 189, 242, 123, 27, 61, 55, 194, 162, 188, 41, 175, 21, 188, 37, 202, 222, 60, 74, 12, 194, 61, 124, 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3, 25, 11, 14, 18, 17, 30, 6, 6, 31, 28, 18, 13, 12, 17, 16, 3, 15, 17, 18, 2, 29, 3, 15, 12, 30, 13, 18, 16, 14, 28, 2, 16, 17, 13, 11, 32, 24, 23, 22, 21, 20, 10, 19, 21, 22, 5, 30, 10, 19, 22, 20, 23, 26, 33, 7, 5, 20, 21, 19, 19, 24, 4, 33, 26, 22, 19, 32, 4, 23, 12, 3, 4, 32, 11, 23, 33, 22, 7, 33, 9, 31, 6, 14, 31, 8, 2, 18, 0, 3, 16, 2, 17, 12, 10, 20, 5, 6, 13, 14, 6, 27, 9, 8, 28, 11, 25, 4, 24, 19, 9, 27, 7, 22, 26, 23, 4, 1, 0, 0, 128, 191, 34, 83, 29, 61, 184, 169, 181, 60, 240, 239, 54, 61, 184, 169, 181, 60] - } - } - - over "flange_link" ( - ) - { - } - } -} - diff --git a/techman_tm12/tm12.usda b/techman_tm12/tm12.usda deleted file mode 100644 index 89bbc5fc5f1dc22d68181be7d7b6faab6a60564c..0000000000000000000000000000000000000000 --- a/techman_tm12/tm12.usda +++ /dev/null @@ -1,1376 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/tm12" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/tm12" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/tm12" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.28747, 0.42317006, 1.5700558) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "tm12" - string asset_type = "robot" - string author = "Techman" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 29.783599972724915 - string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass." - string qcode = "Q40687" - int rigid_body_count = 7 - string source_file = "Techman/TM12/tm12.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "tm12" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "tm12" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "link_0" - { - over "collisions" - { - over "collisions" - { - token visibility = "invisible" - } - } - } - - over "link_1" - { - over "collisions" - { - over "collisions_1" - { - token visibility = "invisible" - } - } - } - - over "link_2" - { - over "collisions" - { - over "collisions_2" - { - token visibility = "invisible" - } - } - } - - over "link_3" - { - over "collisions" - { - over "collisions_3" - { - token visibility = "invisible" - } - } - } - - over "link_4" - { - over "collisions" - { - over "collisions_4" - { - token visibility = "invisible" - } - } - } - - over "link_5" - { - over "collisions" - { - over "collisions_5" - { - token visibility = "invisible" - } - } - } - - over "link_6" - { - over "collisions" - { - over "collisions_6" - { - token visibility = "invisible" - } - } - - over "tool0" - { - matrix4d xformOp:transform:agentFrame = ( (0.9999999999999999, 0, -1.2408765038103312e-23, 0), (-6.310887241768095e-30, 0.9999999999999999, 0, 0), (-1.2408752603321579e-23, 5.293955920339377e-23, 0.9999999999999999, 0), (0, 0, 0, 0.9999999999999998) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - } - - over "flange_link" - { - matrix4d xformOp:transform:agentFrame = ( (0.9999999999999999, 0, -1.2408765038103312e-23, 0), (-6.310887241768095e-30, 0.9999999999999999, 0, 0), (-1.2408752603321579e-23, 5.293955920339377e-23, 0.9999999999999999, 0), (0, 0, 0, 0.9999999999999998) ) - uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"] - - over "flange_link_tool0" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "flange_fixed_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - } - - over "root_joint" ( - active = false - ) - { - bool physics:jointEnabled = 0 - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 81199a21d8c66d06c6caa8eb15ab92026d56450c..0000000000000000000000000000000000000000 --- a/ufactory_lite6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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"format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:16", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-2-0" - ] - } - } - ] - } - ] -} diff --git a/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json deleted file mode 100644 index 5a83595e01934ee08ad62aed0934c723f0d0dae1..0000000000000000000000000000000000000000 --- a/ufactory_lite6/.metadata/com.nvidia.simready.packaging.bom.json +++ /dev/null @@ -1,247 +0,0 @@ -{ - "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/ufactory_lite6/3.0.1", - 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} - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 42.04136276245117, - "damping": 0.01681654527783394, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5227449300397039, - "start": -0.0008538455585949123, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 38, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 81.5969009399414, - "damping": 0.032638758420944214, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235986338637671, - "start": -1.4173453166677064e-07, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 25, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.4186672270298004, - "damping": 0.00016746688925195485, - "max_force": 20.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987761355854, - "start": 5.37286548585314e-10, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 25, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 7.891, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 6, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.3134996261611702, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.516, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 6, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 86.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.593, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 6, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 6, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.523590892164617, - "start": -7.883433681854513e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 91, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5277205150156133, - "start": 0.004121739417314529, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 86, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8.337599754333496, - "damping": 0.0, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5184499089187794, - "start": -0.005148866679519415, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 118, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235964433230548, - "start": -2.332275244043558e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 90, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5237791571085891, - "start": 0.00018038151029031724, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 90, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236089792093536, - "start": 1.0203611054748762e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 100, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 60.5, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.313573738213583, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "joint6", - "body_path": "/World/AssetRoot/Asset/link6", - "direction": "-XZ", - "world_com": [ - 0.11094443673839491, - -0.0005802138973213665, - 0.16956412958458184 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.063, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 14.76, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.25, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 6, - "unit": null - }, - "eff_joints_passed": { - "value": 6, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 44.08173370361328, - "damping": 0.01763269305229187, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -2.6179897785186768, - "runtime_upper": 2.6179897785186768, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 46.52854919433594, - "damping": 0.018611419945955276, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -0.061086997389793396, - "runtime_upper": 5.235987663269043, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 42.04136276245117, - "damping": 0.01681654527783394, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 81.5969009399414, - "damping": 0.032638758420944214, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -1.4014909267425537, - "runtime_upper": 2.9269087314605713, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1.0256969928741455, - "damping": 0.00041027882252819836, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -4.413937568664551, - "runtime_upper": 8.152433395385742, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.4186672270298004, - "damping": 0.00016746688925195485, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "effort_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 30.203, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.3134996261611702, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.516, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 7.17, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - 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"stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.6179897785186768, - "runtime_upper": 2.6179897785186768, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 379, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.061086997389793396, - "runtime_upper": 5.235987663269043, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8.337599754333496, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 460, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.4014909267425537, - "runtime_upper": 2.9269087314605713, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 354, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -4.413937568664551, - "runtime_upper": 8.152433395385742, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.844, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/lite6/simready_usd/lite6.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 2.875, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/lite6/simready_usd/lite6.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 73.219, - "message": "", - "metrics": { - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 6, - "unit": null - }, - "jik_robot_reach": { - "value": 0.2908, - "unit": null - }, - "jik_target_radius": { - "value": 0.2617, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - }, - "jik_base_position_z": { - "value": 0.0, - "unit": null - }, - "jik_max_observed_reach": { - "value": 0.4576, - "unit": null - }, - "jik_distinct_reachable_targets": { - "value": 5, - "unit": null - }, - "jik_guard_reference": { - 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"dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 64.703, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 33.745, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1124.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.282, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.862069, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 25, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.795404, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.042981, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 64.703, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 33.745, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1124.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 3.282, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.862069, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 25, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.795404, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.042981, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.64, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.593, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 2, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 56280, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.64, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.593, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 2, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 56280, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 28.625, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 6, - "unit": null - }, - "mjc_valid_joints": { - "value": 6, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.313573738213583, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 2.0105365769224592, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.5079024326918444, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274200515656457 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.8382540307589808, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.6286905230692356, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0026159055907799735 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.740805448121391, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.3056040860910434, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.005432461446177421 - }, - { - "name": "joint4", - "index": 3, - "displacement": 2.0106192058804853, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.507964404410364, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274458372517659 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.07016520512923652, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.05262390384692739, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00021896172954826847 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.1413714397507001, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.10602857981302508, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0004411721579025754 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 456 - }, - { - "ramp_frames": 493, - "hold_frames": 1440, - "total_frames": 1933, - "ramp_seconds": 2.0541666666666667, - "hold_seconds": 6.0, - "observation_seconds": 8.054166666666667, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 2.9989117145538327, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.189874679998742, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008871859590335873 - }, - { - "name": "joint2", - "index": 1, - "displacement": 1.253942000865936, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9156574448513934, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003709611494091547 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.2853408089280127, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9385855805559524, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003802500462821712 - }, - { - "name": "joint4", - "index": 3, - "displacement": 3.001352286338806, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.1916568419512577, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008879079679555701 - }, - { - "name": "joint5", - "index": 4, - "displacement": 1.039349849820137, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.758957293986307, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0030747707203548913 - }, - { - "name": "joint6", - "index": 5, - "displacement": 3.0148982316255566, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.201548404432455, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008919153458344375 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 472 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.9885885715484619, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7414414286613464, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0030850485370859104 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.41204673051834106, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.3090350478887558, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001285857635595633 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.41695278137922287, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.31271458603441715, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0013011677509311426 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.9894363284111023, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7420772463083267, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003087694097763105 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.340487003326416, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.255365252494812, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001062544077203853 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.9892587661743164, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7419440746307373, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003087139986419629 - } - ], - "joints_omitted": 0, - "iteration": 2, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 443 - } - ], - "unit": null - }, - "mjc_timing_iterations_omitted": { - "value": 0, - "unit": null - }, - "mjc_completed_nominal_ticks": { - "value": 1611, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.844, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 70.33, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -2.010619354248047, - "final_position": -1.9936020374298096, - "final_error": 0.017017316818237482, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.8377567291259767, - "final_position": -0.835063636302948, - "final_error": 0.0026930928230286533, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": 1.7399183872342108, - "final_position": 1.7258754968643188, - "final_error": 0.014042890369891925, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -2.010619354248047, - "final_position": -1.9960426092147827, - "final_error": 0.014576745033264338, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.07016495704650882, - "final_position": 0.06963102519512177, - "final_error": 0.0005339318513870595, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": -0.14137144088745135, - "final_position": -0.1403406411409378, - "final_error": 0.0010307997465135443, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_1_joints": { - "value": [ - { - "name": "joint1", - "target": 1.005309677124023, - "final_position": 0.9885885715484619, - "final_error": 0.016721105575561168, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.4188783645629881, - "final_position": 0.41204673051834106, - "final_error": 0.006831634044647039, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": 3.0112163057923316, - "final_position": 3.0044031143188477, - "final_error": 0.006813191473483915, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 1.005309677124023, - "final_position": 0.9894363284111023, - "final_error": 0.015873348712920787, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 1.1089808750152588, - "final_position": 1.1031959056854248, - "final_error": 0.005784969329833967, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 2.874557590484619, - "final_position": 2.858506679534912, - "final_error": 0.016050910949706676, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_2_joints": { - "value": [ - { - "name": "joint1", - "target": 0.0, - "final_position": 0.016730984672904015, - "final_error": 0.016730984672904015, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.0, - "final_position": 0.007374684792011976, - "final_error": 0.007374684792011976, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": 2.587450332939625, - "final_position": 2.594463586807251, - "final_error": 0.00701325386762619, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 0.0, - "final_position": 0.01673067733645439, - "final_error": 0.01673067733645439, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.7627089023590088, - "final_position": 0.7686086893081665, - "final_error": 0.005899786949157715, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 1.8692479133605957, - "final_position": 1.8860341310501099, - "final_error": 0.01678621768951416, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iterations_passed": { - "value": 3, - "unit": null - }, - "mjc_iterations_failed": { - "value": 0, - "unit": null - }, - "motion_history_mjc_joint_000": { - "value": { - "schema_version": 1, - "name": "mjc_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 44.08173370361328, - "damping": 0.01763269305229187, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 343, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 46.52854919433594, - "damping": 0.018611419945955276, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 343, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 42.04136276245117, - "damping": 0.01681654527783394, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 343, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - 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"limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 20.015, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 6.297, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 787.12, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 20.015, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 6.297, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 787.12, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.0, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 34.579, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1090.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 2, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 56131, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 34.579, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 5.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 1090.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 2, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 56131, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.469, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.703, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 135.15, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.313, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.469, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.703, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 135.15, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.313, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 0.0, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 1.797, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.296, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 148.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.244171, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 1.797, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.296, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 148.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.244171, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 34.203, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.047, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 809.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "universal_surface_materials_total": { - "value": 2, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 55924, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 34.203, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.047, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 809.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 2, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 2, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 2, - "unit": null - }, - "universal_surface_materials_total": { - "value": 2, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 55924, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.281, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.453, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.891, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 6, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.313573738213583, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.75, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 60, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 12.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.781, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 6, - "unit": null - }, - "sta_joints_passed": { - "value": 6, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.11633307207792074, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 44.08173370361328, - "damping": 0.01763269305229187, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - 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"csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 46.52854919433594, - "damping": 0.018611419945955276, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 6, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 42.04136276245117, - "damping": 0.01681654527783394, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 16, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 81.5969009399414, - "damping": 0.032638758420944214, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 6, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1.0256969928741455, - "damping": 0.00041027882252819836, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 6, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.4186672270298004, - "damping": 0.00016746688925195485, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 6, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 8.61, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.3134996261611702, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.438, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 22, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 19.91, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.734, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 64, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 8.337599754333496, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 75, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/ufactory_lite6/.metadata/lite6_validation.json b/ufactory_lite6/.metadata/lite6_validation.json deleted file mode 100644 index 36acef08858dc7dd3db3b8063a1daf1d91af355a..0000000000000000000000000000000000000000 --- a/ufactory_lite6/.metadata/lite6_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/lite6.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - }, - "profile_id": "Robot-Body", - "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} - } -} diff --git a/ufactory_lite6/.thumbs/256x256/lite6.usda.png b/ufactory_lite6/.thumbs/256x256/lite6.usda.png deleted file mode 100644 index 46672d44e991fd9616622fa11d86fa53126fca92..0000000000000000000000000000000000000000 --- a/ufactory_lite6/.thumbs/256x256/lite6.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9ee91bd7b6dac6bd645217fc5e6509a39328f5c70cb4594043ab017494612f76 -size 38628 diff --git a/ufactory_lite6/com.nvidia.simready.packaging.json b/ufactory_lite6/com.nvidia.simready.packaging.json deleted file mode 100644 index dbf9dab260536782685bf4083953308114d484fa..0000000000000000000000000000000000000000 --- a/ufactory_lite6/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_lite6.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "1fcbc966708249b20473fa3cf5c38c2e78bdc98ceb85f2a49ae6128d10319c0d" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "716f992c1981c6d387c65796ab39e3d3b6565b9f2017e50bad6c3cb5b9055f83" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "adc32d994e771f9e76f2862f5c0a85e0205c47ba5bf244dedb538533e8d03730" - } - }, - { - "name": "lite6_benchmark.json", - "hash": { - "sha256": "892a31ed3c7f1d3ac36fc1bad2342ffcac1485977bfba8a091b1eaca1afa416e" - } - }, - { - "name": "lite6_validation.json", - "hash": { - "sha256": "ff6ad855a90e86cbce57cccf90323d0b2baf908e2c5fb355752f7dd30df8bb22" - } - } - ], - "content_hash": { - "sha256": "8abd2e5d9b02f8b5a8acc47ed57ca1ad2410d60df0f9758b7c2e89e5d096e727" - }, - "package_hash": { - "sha256": "5144d60fafaae9ee921e832c3777cfdb3b60ed504e9f6ea47e86bcd4cb271310" - } -} diff --git a/ufactory_lite6/lite6.usda b/ufactory_lite6/lite6.usda deleted file mode 100644 index 7c81dd781f46e4e2eedebf3f03598af50fdabc06..0000000000000000000000000000000000000000 --- a/ufactory_lite6/lite6.usda +++ /dev/null @@ -1,1402 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.24773322, 0.20719384, 0.48370063) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "lite6" - string asset_type = "robot" - string author = "Ufactory" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 7.575935184955597 - string qcode = "Q40687" - int rigid_body_count = 7 - string source_file = "Ufactory/lite6/lite6.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - string Sensor = "none" - string Variant_Set = "none" - } - variantSets = ["Variant_Set", "Sensor", "PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "world" - { - over "collisions" - { - over "link_base" ( - instanceable = false - ) - { - over "mesh_1" - { - token visibility = "invisible" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" ( - instanceable = false - ) - { - over "mesh_3" - { - token visibility = "invisible" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" ( - instanceable = false - ) - { - over "mesh_5" - { - token visibility = "invisible" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" ( - instanceable = false - ) - { - over "mesh_7" - { - token visibility = "invisible" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" ( - instanceable = false - ) - { - over "mesh_9" - { - token visibility = "invisible" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" ( - instanceable = false - ) - { - over "mesh_11" - { - token visibility = "invisible" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" ( - instanceable = false - ) - { - over "mesh_13" - { - token visibility = "invisible" - } - } - } - } - variantSet "Variant_Set" = { - "lite_gripper" ( - prepend payload = @./payloads/Variant_Set/lite_gripper.usda@ - ) { - - } - "none" ( - prepend payload = @./payloads/Variant_Set/none.usda@ - ) { - - } - } - variantSet "Sensor" = { - "none" ( - prepend payload = @./payloads/Sensor/none.usda@ - ) { - - } - "sensors" ( - prepend payload = @./payloads/Sensor/sensors.usda@ - ) { - - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/ufactory_lite6/materials/mdl/OmniPBR.mdl b/ufactory_lite6/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_lite6/materials/mdl/OmniPBRBase.mdl b/ufactory_lite6/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/ufactory_lite6/materials/mdl/OmniPBR_ClearCoat.mdl b/ufactory_lite6/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_lite6/materials/mdl/aux_definitions.mdl b/ufactory_lite6/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/ufactory_lite6/materials/mdl/core_definitions.mdl b/ufactory_lite6/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/ufactory_lite6/materials/mdl/license.txt b/ufactory_lite6/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/ufactory_lite6/materials/mdl/support_definitions.mdl b/ufactory_lite6/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/ufactory_lite6/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/ufactory_lite6/payloads/Physics/mujoco.usda b/ufactory_lite6/payloads/Physics/mujoco.usda deleted file mode 100644 index 68648554b36913169336378f02db81701e6b8ce6..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,230 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "joints" - { - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - } - - over "world" - { - over "link_base" - { - } - - over "visuals" - { - over "link_base" - { - } - } - - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - ) - { - } - } - } - } - - over "link1" - { - over "visuals" - { - over "link1" - { - } - } - - over "collisions" - { - over "link1" - { - over "mesh_3" ( - ) - { - } - } - } - } - - over "link2" - { - over "visuals" - { - over "link2" - { - } - } - - over "collisions" - { - over "link2" - { - over "mesh_5" ( - ) - { - } - } - } - } - - over "link3" - { - over "visuals" - { - over "link3" - { - } - } - - over "collisions" - { - over "link3" - { - over "mesh_7" ( - ) - { - } - } - } - } - - over "link4" - { - over "visuals" - { - over "link4" - { - } - } - - over "collisions" - { - over "link4" - { - over "mesh_9" ( - ) - { - } - } - } - } - - over "link5" - { - over "visuals" - { - over "link5" - { - } - } - - over "collisions" - { - over "link5" - { - over "mesh_11" ( - ) - { - } - } - } - } - - over "link6" - { - over "link_eef" - { - } - - over "visuals" - { - over "link6" - { - } - } - - over "collisions" - { - over "link6" - { - over "mesh_13" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - over "material_Silver" - { - } - - over "material_White" - { - } - } - - over "gripper" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/ufactory_lite6/payloads/Physics/none.usda b/ufactory_lite6/payloads/Physics/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Physics/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_lite6/payloads/Physics/physics.usda b/ufactory_lite6/payloads/Physics/physics.usda deleted file mode 100644 index eb584122976af008d1de132d4ecf0c127974b285..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Physics/physics.usda +++ /dev/null @@ -1,351 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "joints" - { - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.017632693 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 44.081734 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.07053077 - point3f physics:localPos0 = (0, 0, 0.2435) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.01861142 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 46.52855 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.07444568 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.50000364, 0.49999818, 0.5000018, 0.4999964) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -149.99977 - float physics:upperLimit = 149.99977 - } - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.016816545 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 42.041363 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.06726618 - point3f physics:localPos0 = (0.2002, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.000002559715, -0.7071055, -0.7071081, -0.0000025597242) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -3.5000272 - float physics:upperLimit = 300 - } - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.03263876 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 81.5969 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.13055503 - point3f physics:localPos0 = (0.087, -0.22761, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.00041027882 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 1.025697 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0016411153 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.6830127, 0.68301505, 0.18300857, -0.18300797) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -80.299515 - float physics:upperLimit = 167.69952 - } - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.00016746689 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 0.41866723 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00066986756 - point3f physics:localPos0 = (0, 0.0625, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.42010602, 0.42010787, 0.56878054, 0.56877846) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -252.9 - float physics:upperLimit = 467.1 - } - } - - over "world" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (-0.008295446, 0.000032635744, 0.063119456) - float3 physics:diagonalInertia = (0, 0, 0) - float physics:mass = 1.6539351 - quatf physics:principalAxes = (1, 0, 0, 0) - rel physics:simulationOwner - vector3f physics:velocity = (0, 0, 0) - - over "collisions" - { - rel physics:simulationOwner - - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (9.002585e-10, -1.276674e-10, 0.0039561703) - point3f physics:centerOfMass = (-0.00036, 0.04195, -0.0025) - float3 physics:diagonalInertia = (0.001452763, 0.00085335504, 0.0013527519) - float physics:mass = 1.411 - quatf physics:principalAxes = (0.99023783, 0.13031231, -0.047194086, -0.014848429) - rel physics:simulationOwner - vector3f physics:velocity = (-0.000002896572, -2.4857313e-8, 6.803013e-13) - - over "collisions" - { - rel physics:simulationOwner - - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-6.831267e-9, 0.0007120224, 0.0039561703) - point3f physics:centerOfMass = (0.179, 0, 0.0584) - float3 physics:diagonalInertia = (0.0012201827, 0.0056097126, 0.005215205) - float physics:mass = 1.34 - quatf physics:principalAxes = (0.98822916, 0.0010828195, 0.15297434, -0.00095072406) - rel physics:simulationOwner - vector3f physics:velocity = (-0.000001807959, 2.7090816e-11, -8.0081506e-12) - - over "collisions" - { - rel physics:simulationOwner - - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (-2.4391571e-8, 0.0023249341, 0.003956159) - point3f physics:centerOfMass = (0.072, -0.0357, -0.001) - float3 physics:diagonalInertia = (0.00070380664, 0.0017554632, 0.0018521) - float physics:mass = 0.953 - quatf physics:principalAxes = (0.9767498, 0.027575074, -0.039178804, -0.20896104) - rel physics:simulationOwner - vector3f physics:velocity = (9.701785e-7, 0.0000049714963, -0.0000029215953) - - over "collisions" - { - rel physics:simulationOwner - - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (1.299671e-7, 0.0023250042, 0.02299897) - point3f physics:centerOfMass = (-0.002, -0.0285, -0.0813) - float3 physics:diagonalInertia = (0.0037050284, 0.0034909125, 0.0010958592) - float physics:mass = 1.284 - quatf physics:principalAxes = (0.97524774, 0.22109033, 0.0020349806, -0.002621776) - rel physics:simulationOwner - vector3f physics:velocity = (-0.000014889129, 0.0000052041714, -0.0000034489885) - - over "collisions" - { - rel physics:simulationOwner - - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.000002101967, -0.18621254, 0.02299901) - point3f physics:centerOfMass = (0, 0.01, 0.0019) - float3 physics:diagonalInertia = (0.0005675527, 0.00050768093, 0.00052926637) - float physics:mass = 0.804 - quatf physics:principalAxes = (0.9974583, -0.012616283, -0.06992804, -0.005298793) - rel physics:simulationOwner - vector3f physics:velocity = (0.000020635745, 0.000008014293, 0.000012719271) - - over "collisions" - { - rel physics:simulationOwner - - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0.012396793, -0.18621251, 0.0015296378) - point3f physics:centerOfMass = (0, -0.0019400001, -0.0102) - float3 physics:diagonalInertia = (0.00007714116, 0.000085775726, 0.00014814812) - float physics:mass = 0.13 - quatf physics:principalAxes = (0.99828994, -0.0050072344, -0.0026026508, 0.058185127) - rel physics:simulationOwner - vector3f physics:velocity = (0.00014348589, 0.000016662809, 0.00007611204) - - over "collisions" - { - rel physics:simulationOwner - - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] - ) - { - rel physics:body1 = - } -} - diff --git a/ufactory_lite6/payloads/Physics/physx.usda b/ufactory_lite6/payloads/Physics/physx.usda deleted file mode 100644 index ef5745924eec53af7b52f821688acce9e4078d07..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Physics/physx.usda +++ /dev/null @@ -1,205 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -def "UF_ROBOT" -{ - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - float physxArticulation:sleepThreshold = 0.00001 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - float physxArticulation:stabilizationThreshold = 0.00001 - } -} - diff --git a/ufactory_lite6/payloads/Sensor/none.usda b/ufactory_lite6/payloads/Sensor/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Sensor/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_lite6/payloads/Sensor/sensors.usda b/ufactory_lite6/payloads/Sensor/sensors.usda deleted file mode 100644 index bec5a0cb02e1d3d0710abfcb18049342e3c573be..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Sensor/sensors.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" -{ -} - diff --git a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper.usd b/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper.usd deleted file mode 100644 index cc141ce3c31a9fee895b122e45e15b62b5f2fdbc..0000000000000000000000000000000000000000 Binary files a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper.usd and /dev/null differ diff --git a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_base.usd b/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_base.usd deleted file mode 100644 index b125a8a859e2f41e208910d5df889fb5a8381a4f..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:871cd780830c10af9dab62fc71f3a7b06ede99bff6b860ce5a104566f1dedf87 -size 802498 diff --git a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_physics.usd b/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_physics.usd deleted file mode 100644 index a754c22941e452cabc410844727c369f90d3cbec..0000000000000000000000000000000000000000 Binary files a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_physics.usd and /dev/null differ diff --git a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_robot_schema.usd b/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_robot_schema.usd deleted file mode 100644 index 9f289a23bb30e5ecd9f3329e9623383caca8881f..0000000000000000000000000000000000000000 Binary files a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_robot_schema.usd and /dev/null differ diff --git a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_sensor.usd b/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_sensor.usd deleted file mode 100644 index 3fa9db96add10367578ad90a9e15519c8796bb34..0000000000000000000000000000000000000000 Binary files a/ufactory_lite6/payloads/Variant_Set/dependencies/uf_lite_gripper_sensor.usd and /dev/null differ diff --git a/ufactory_lite6/payloads/Variant_Set/lite_gripper.usda b/ufactory_lite6/payloads/Variant_Set/lite_gripper.usda deleted file mode 100644 index 2124e2b9b972369c4248c70523700fbbb07ede71..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Variant_Set/lite_gripper.usda +++ /dev/null @@ -1,29 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper/root_joint", "gripper"] - } -) -{ - over "gripper" ( - prepend payload = @./dependencies/uf_lite_gripper.usd@ - ) - { - over "root_joint" - { - custom rel physics:body0 - prepend rel physics:body0 = - } - } -} - diff --git a/ufactory_lite6/payloads/Variant_Set/none.usda b/ufactory_lite6/payloads/Variant_Set/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/Variant_Set/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_lite6/payloads/base.usda b/ufactory_lite6/payloads/base.usda deleted file mode 100644 index fdd632a3de7de780263c1f2228a90be8741b9eec..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/base.usda +++ /dev/null @@ -1,507 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - prepend variantSets = "Variant_Set" -) -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - def Material "material_Silver" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - - def Scope "joints" - { - } - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_base" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link_base" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link_base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link1" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-2.153683453798294e-9, 0, 0.24349991977214813) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.5000037178184698, -0.4999982640106412, -0.5000017210799866, -0.4999962970573929) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (9.051291272044182e-9, 7.450580596923828e-9, 0.24349991977214813) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.7071094158505028, 0.7071041464800262, 0.000006750226020807891, 8.654315024607817e-7) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (7.972121238708496e-7, 3.725290298461914e-9, 0.4436999559402466) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_7" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.0000018106020430222604, 0.9999999999754777, 0.000005344394594299867, -0.000004147761501270149) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0869988426566124, -7.431954145431519e-7, 0.21608927845954895) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_9" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.683015562622295, -0.6830137345468592, -0.18300911713037565, -0.1830017559567745) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.0869988426566124, -7.540220394730568e-7, 0.21608929336071014) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_11" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link6" - { - quatd xformOp:orient = (0.2081799910888902, 0.5738746019177682, 0.7769722466193494, 0.15376332647037075) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.11824769526720047, -4.2957253754138947e-7, 0.16196201741695404) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_eef" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link6" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_13" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "gripper" - { - quatd xformOp:orient = (6.123233995736766e-17, 1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.087, 0, 0.15359) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - variantSet "Variant_Set" = { - "lite_gripper" { - over "gripper" - { - over "root_joint" - { - point3f physics:localPos0 = (0.0000014081626, -6.6615524e-7, -5.9605907e-7) - quatf physics:localRot0 = (1, 0.000001758337, 0.0000036445508, 0.0000054147026) - } - - over "uflite_gripper_link" - { - vector3f physics:angularVelocity = (0.012396793, -0.18621251, 0.0015296378) - rel physics:simulationOwner - vector3f physics:velocity = (0.00025360633, 0.000024574341, 0.00014677322) - quatd xformOp:orient = (-0.5738786831088882, 0.20817536887526947, -0.1537651977073509, 0.7769701003519205) - double3 xformOp:translate = (0.031246488273143774, -7.197377271939992e-7, -0.008372002515792842) - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "uflite_finger1" - { - vector3f physics:angularVelocity = (0.012396793, -0.18621251, 0.0015296378) - rel physics:simulationOwner - vector3f physics:velocity = (0.00021069194, -0.000009892217, 0.0001765918) - quatd xformOp:orient = (-0.573878668533603, 0.2081753426459899, -0.15376519273272302, 0.7769701191295533) - double3 xformOp:translate = (0.06250376749038697, -0.0014605638571083591, 0.03628196450710297) - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "uflite_finger2" - { - vector3f physics:angularVelocity = (0.012396793, -0.18621251, 0.0015296378) - rel physics:simulationOwner - vector3f physics:velocity = (0.0004828982, 0.00007230975, 0.00022180262) - quatd xformOp:orient = (-0.5738787122605213, 0.20817529447148173, -0.15376520337960242, 0.7769700976328155) - double3 xformOp:translate = (0.0537100260257721, 0.0016631912440061517, 0.04135873797178269) - - over "collisions" - { - rel physics:simulationOwner - } - } - } - } - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/ufactory_lite6/payloads/geometries.usd b/ufactory_lite6/payloads/geometries.usd deleted file mode 100644 index 10194c4b4d38beb323ffc9f1b84bc38556fe73bb..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:057712586307beee5fc3c13be3f31ad29b8e8da34a7a47c692fd58e491526ce3 -size 4696112 diff --git a/ufactory_lite6/payloads/instances.usda b/ufactory_lite6/payloads/instances.usda deleted file mode 100644 index 76482459915a633a2fa348361138a57a7f335198..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/instances.usda +++ /dev/null @@ -1,702 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "mesh" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_2" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_2" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_3" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_4" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_5" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_6" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_7" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_8" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_8" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_9" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_10" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_11" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_11" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_12" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_12" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_13" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_13" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } -} - diff --git a/ufactory_lite6/payloads/materials.usda b/ufactory_lite6/payloads/materials.usda deleted file mode 100644 index 6e788fd6f215ed31315368275baff55294061999..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/materials.usda +++ /dev/null @@ -1,560 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_Black" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Red" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Silver" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.753, 0.753, 0.753) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_______________" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "material_______________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material____________" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "material____________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/ufactory_lite6/payloads/robot.usda b/ufactory_lite6/payloads/robot.usda deleted file mode 100644 index 5c53792d5de53713cc7e266f216d0358e3d8c26e..0000000000000000000000000000000000000000 --- a/ufactory_lite6/payloads/robot.usda +++ /dev/null @@ -1,211 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint5" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - float state:angular:physics:position = 0 - } - - over "joint6" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - float state:angular:physics:position = 0 - } - } - - over "world" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_base" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_eef" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } -} - diff --git a/ufactory_lite6/runnables/physics/mujoco.usda b/ufactory_lite6/runnables/physics/mujoco.usda deleted file mode 100644 index 96c0165364604c5103e42c7041d0f234509da8a9..0000000000000000000000000000000000000000 --- a/ufactory_lite6/runnables/physics/mujoco.usda +++ /dev/null @@ -1,252 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -def "UF_ROBOT" -{ - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_UF_ROBOT_joints_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -2525.6972948366365, -1.0102788933459736] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -2665.8894957022762, -1.066355813648836] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -2408.792651266912, -0.963517070410539] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4675.158045205702, -1.8700631060671786] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-44.82295937114486, -58.76810875094861, -0.023507244954462686] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [-44.839259376056134, -23.987865129253024, -0.00959514596232178] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/ufactory_lite6/runnables/physics/newton.usda b/ufactory_lite6/runnables/physics/newton.usda deleted file mode 100644 index 69c1682f1327159096f5c02e2359cf127d88f39f..0000000000000000000000000000000000000000 --- a/ufactory_lite6/runnables/physics/newton.usda +++ /dev/null @@ -1,190 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -over "UF_ROBOT" -{ - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] - ) - { - bool newton:selfCollisionEnabled = 0 - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10.4219 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10.4219 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 8.3376 - float newton:damping = 0.277919 - float newton:velocityLimit = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.67 - float newton:damping = 0.222335 - float newton:velocityLimit = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.67 - float newton:damping = 0.222335 - float newton:velocityLimit = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4.1688 - float newton:damping = 0.138959 - float newton:velocityLimit = 179.90874 - } - } -} - diff --git a/ufactory_lite6/runnables/physics/physx.usda b/ufactory_lite6/runnables/physics/physx.usda deleted file mode 100644 index a1110aa34ff5c397952ade8a1f5abd0d87367891..0000000000000000000000000000000000000000 --- a/ufactory_lite6/runnables/physics/physx.usda +++ /dev/null @@ -1,229 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend variantSets = "Variant_Set" -) -{ - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = -0.0000031772724 - float state:angular:physics:velocity = 0 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0.000022263755 - float state:angular:physics:velocity = 0 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = -0.00006087689 - float state:angular:physics:velocity = 0 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0.0000020674302 - float state:angular:physics:velocity = 0 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "world" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_1" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_3" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_5" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_7" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_9" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_11" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_13" - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - float physxArticulation:sleepThreshold = 0.00001 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - float physxArticulation:stabilizationThreshold = 0.00001 - } - variantSet "Variant_Set" = { - "lite_gripper" { - over "gripper" - { - over "joints" - { - over "finger_joint1" - { - float state:linear:physics:position = 0.0049634674 - float state:linear:physics:velocity = 0 - } - - over "finger_joint2" - { - float state:linear:physics:position = 0.005660153 - float state:linear:physics:velocity = 0 - } - } - - over "root_joint" - { - bool physxArticulation:articulationEnabled = 0 - } - } - - } - } -} - diff --git a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 4ef284f56ad0057fb9d5fade5f0ecc479f67fe25..0000000000000000000000000000000000000000 --- a/ufactory_uf850/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "format_version": "1.0", - 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"format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:20", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-2-0" - ] - } - } - ] - } - ] -} diff --git a/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json deleted file mode 100644 index 8171032b004a5065ffb802df0657d8fff2a50c12..0000000000000000000000000000000000000000 --- a/ufactory_uf850/.metadata/com.nvidia.simready.packaging.bom.json +++ /dev/null @@ -1,248 +0,0 @@ -{ - "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/ufactory_uf850/3.0.1", - 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"format_version": "1.0", - "entries": [ - "uf850.usda" - ] -} diff --git a/ufactory_uf850/.metadata/uf850_benchmark.json b/ufactory_uf850/.metadata/uf850_benchmark.json deleted file mode 100644 index 8122fad09684f81834a926a1aad11f5d7a85fc34..0000000000000000000000000000000000000000 --- a/ufactory_uf850/.metadata/uf850_benchmark.json +++ /dev/null @@ -1,15338 +0,0 @@ -{ - "schema_version": "1.0", - "asset": "uf850", - "run_timestamp": "2026-10-31T20:07:08.573916+00:00", - "passed": false, - "results": [ - { - "test_name": "culling_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.953, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.406, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 150.37, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.734, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.005517, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.001025, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 315.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "culling_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.953, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.406, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 150.37, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.734, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.005517, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.001025, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 315.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.531, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 26, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 7, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 7, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.47, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 210.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.75, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "display_color_probe_warmup_captures": { - "value": 2, - "unit": null - }, - "display_color_probe_warmup_sequence": { - "value": [ - "display_color_warmup_read", - "display_color_warmup_read_control" - ], - "unit": null - }, - "display_color_silhouette_pixels": { - "value": 42441, - "unit": null - }, - "display_color_whole_frame_delta_pixels": { - "value": 42716, - "unit": null - }, - "display_color_read_mean_rgb": { - "value": [ - 0.1273, - 0.1273, - 0.1271 - ], - "unit": null - }, - "display_color_control_ratio": { - "value": 0.000188, - "unit": null - }, - "display_color_response_ratio": { - "value": 0.999929, - "unit": null - }, - "display_color_opacity_ratio": { - "value": 0.999929, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.531, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 26, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - }, - "display_color_renderable_gprims": { - "value": 7, - "unit": null - }, - "display_color_gprims_without_displaycolor": { - "value": 0, - "unit": null - }, - "display_color_gprims_without_displayopacity": { - "value": 7, - "unit": null - }, - "display_color_probe_bound_gprims": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_total_s": { - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 153.45155334472656, - "damping": 0.061380621045827866, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236782643074603, - "start": 7.948870916152373e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 27, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 202.82273864746094, - "damping": 0.08112909644842148, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5229960800312311, - "start": -0.0006026955670677125, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 504.2830810546875, - "damping": 0.20171323418617249, - "max_force": 68.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236065848781492, - "start": 7.80927985033486e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 31, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.3000576496124268, - "damping": 0.001320023089647293, - "max_force": 19.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5205926116137617, - "start": -0.0030061639845371246, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 37, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1.3053487539291382, - "damping": 0.0005221394822001457, - "max_force": 19.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235725670550947, - "start": -2.620854320412036e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 31, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 8.5, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 6, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.211719383102953, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.485, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 7, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 69.29, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.578, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 6, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 6, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 41.687801361083984, - "damping": 0.0, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236036979918991, - "start": 4.922393600281794e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 95, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 41.687801361083984, - "damping": 0.0, - "max_force": 200.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5203725701245331, - "start": -0.003226205473765731, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 90, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 23.449399948120117, - "damping": 0.0, - "max_force": 90.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": -0.5178873071960025, - "start": 0.005711468402296305, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 128, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.17389965057373, - "damping": 0.0, - "max_force": 68.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235847109203006, - "start": -1.4064677998248953e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 94, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236134511102192, - "start": 1.4675511920358986e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 103, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235989306333378, - "start": 1.550350390289168e-07, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 58.688, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.2118223527808056, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "joint6", - "body_path": "/World/AssetRoot/Asset/link6", - "direction": "-XZ", - "world_com": [ - 0.1501986260129556, - 0.0003212657406321624, - 0.25216258102013356 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.328, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 18.44, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.25, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 6, - "unit": null - }, - "eff_joints_passed": { - "value": 6, - "unit": null - }, - "eff_joints_failed": { - 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}, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -4.223696708679199, - "runtime_upper": 0.061086997389793396, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - 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}, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - 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"identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. 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World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. 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World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.922, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/uf850/simready_usd/uf850.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 3.688, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/uf850/simready_usd/uf850.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 141, - "json": "motion_history/jik_target_004_joint_004.json", - "csv": "motion_history/jik_target_004_joint_004.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_005": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 141, - "json": "motion_history/jik_target_004_joint_005.json", - "csv": "motion_history/jik_target_004_joint_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 99.141, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 8.613, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 191.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.422, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_rot_deg": { - "value": 179.981, - "unit": null - }, - "jm_joint_joint1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint1_bbox_m": { - "value": 0.3251, - "unit": null - }, - "jm_joint_joint1_translation_stage_units": { - "value": 2.534738572468241e-07, - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_stage_units": { - "value": 0.3251302051326334, - "unit": null - }, - "jm_joint_joint1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint1_pct_of_travel": { - "value": 50.0, - "unit": null - }, - "jm_joint_joint1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint2_rot_deg": { - "value": 132.001, - "unit": null - }, - "jm_joint_joint2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint2_bbox_m": { - "value": 0.5394, - "unit": null - }, - "jm_joint_joint2_translation_stage_units": { - "value": 1.0445961749518753e-07, - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_stage_units": { - "value": 0.5393924015055438, - "unit": null - }, - "jm_joint_joint2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint2_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint3_rot_deg": { - "value": 179.868, - "unit": null - }, - "jm_joint_joint3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint3_bbox_m": { - "value": 0.3622, - "unit": null - }, - "jm_joint_joint3_translation_stage_units": { - "value": 2.697054296751949e-07, - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_stage_units": { - "value": 0.36218651112142713, - "unit": null - }, - "jm_joint_joint3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint3_pct_of_travel": { - "value": 74.3, - "unit": null - }, - "jm_joint_joint3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint4_rot_deg": { - "value": 179.979, - "unit": null - }, - "jm_joint_joint4_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint4_bbox_m": { - "value": 0.3551, - "unit": null - }, - "jm_joint_joint4_translation_stage_units": { - "value": 3.0932228174071076e-07, - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_stage_units": { - "value": 0.35512127537373783, - "unit": null - }, - "jm_joint_joint4_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint4_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint4_pct_of_travel": { - "value": 50.0, - "unit": null - }, - "jm_joint_joint4_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint5_rot_deg": { - "value": 124.0, - "unit": null - }, - "jm_joint_joint5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint5_bbox_m": { - "value": 0.1817, - "unit": null - }, - "jm_joint_joint5_translation_stage_units": { - "value": 1.5327349246096365e-07, - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_stage_units": { - "value": 0.18168958602775534, - "unit": null - }, - "jm_joint_joint5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint5_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint6_rot_deg": { - "value": 179.982, - "unit": null - }, - "jm_joint_joint6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint6_bbox_m": { - "value": 0.1256, - "unit": null - }, - "jm_joint_joint6_translation_stage_units": { - "value": 1.6469439266053265e-07, - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_stage_units": { - "value": 0.12556762571262514, - "unit": null - }, - "jm_joint_joint6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint6_pct_of_travel": { - "value": 50.0, - "unit": null - }, - "jm_joint_joint6_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 6, - "unit": null - }, - "jm_joints_passed": { - "value": 6, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint6_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/world", - "reference_frame": "/World/AssetRoot/Asset/world", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - 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"authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - 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}, - "jm_joint_joint2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint6_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/world", - "reference_frame": "/World/AssetRoot/Asset/world", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.781, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.138, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 137.93, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.406, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.965517, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 28, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.858548, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.049767, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.781, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.138, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 137.93, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.406, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.965517, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 28, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.858548, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.049767, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.312, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.077, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 415.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 42531, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.312, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.077, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 415.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 26, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 42531, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 27.891, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 6, - "unit": null - }, - "mjc_valid_joints": { - "value": 6, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.2118223527808056, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 2.01069762291736, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.50802321718802, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0062747030854061695 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.7368127251253465, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5526095438440098, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00229934179411946 - }, - { - "name": "joint3", - "index": 2, - "displacement": 2.7671064020146154, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.0753298015109616, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008635197495870262 - }, - { - "name": "joint4", - "index": 3, - "displacement": 2.0106275652371552, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.5079706739278664, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274484459225323 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.6898149100970477, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5173611825727857, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0021526776057282163 - }, - { - "name": "joint6", - "index": 5, - "displacement": 2.0105941931899, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.5079456448924249, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0062743803164216055 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 459 - }, - { - "ramp_frames": 491, - "hold_frames": 1440, - "total_frames": 1931, - "ramp_seconds": 2.0458333333333334, - "hold_seconds": 6.0, - "observation_seconds": 8.045833333333333, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 3.005245780944824, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.203438861792539, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008963124608758477 - }, - { - "name": "joint2", - "index": 1, - "displacement": 1.1040464711189268, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.8094841743438159, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0032928109099117364 - }, - { - "name": "joint3", - "index": 2, - "displacement": 1.0115751156210897, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7416844024920413, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0030170157362263694 - }, - { - "name": "joint4", - "index": 3, - "displacement": 3.0047021865844723, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.203040299736069, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008961503342330701 - }, - { - "name": "joint5", - "index": 4, - "displacement": 1.0342635917663574, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7583195377513008, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0030846839583187347 - }, - { - "name": "joint6", - "index": 5, - "displacement": 3.0048045873641964, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.2031153797374965, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008961808751948297 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 470 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.9886957406997681, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.741521805524826, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0030853829755361772 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.3624529242515564, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.2718396931886673, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001131092241908327 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.33663124591112137, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.252473434433341, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0010505115703729473 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.9892966747283936, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7419725060462952, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003087258286162964 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.34534886479377747, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.2590116485953331, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001077716292474662 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.9892323017120361, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7419242262840271, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003087057399868698 - } - ], - "joints_omitted": 0, - "iteration": 2, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 443 - } - ], - "unit": null - }, - "mjc_timing_iterations_omitted": { - "value": 0, - "unit": null - }, - "mjc_completed_nominal_ticks": { - "value": 1612, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.844, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 70.33, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.938, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -2.010619354248047, - "final_position": -1.9999361038208008, - "final_error": 0.010683250427246271, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.7372270965576173, - "final_position": -0.7354329228401184, - "final_error": 0.0017941737174989036, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -2.766870248615742, - "final_position": -2.7500972747802734, - "final_error": 0.01677297383546872, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -2.010619354248047, - "final_position": -1.9993925094604492, - "final_error": 0.011226844787597834, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": -0.6925439453125, - "final_position": -0.6879916191101074, - "final_error": 0.004552326202392543, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": -2.010619354248047, - "final_position": -1.9994949102401733, - "final_error": 0.011124444007873713, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_1_joints": { - "value": [ - { - "name": "joint1", - "target": 1.005309677124023, - "final_position": 0.9886957406997681, - "final_error": 0.016613936424255016, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.36861354827880843, - "final_position": 0.3624529242515564, - "final_error": 0.006160624027252037, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -1.7385221591591837, - "final_position": -1.7446736097335815, - "final_error": 0.00615145057439781, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 1.005309677124023, - "final_position": 0.9892966747283936, - "final_error": 0.016013002395629528, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.34627197265625, - "final_position": 0.34534886479377747, - "final_error": 0.0009231078624725164, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 1.005309677124023, - "final_position": 0.9892323017120361, - "final_error": 0.01607737541198695, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_2_joints": { - "value": [ - { - "name": "joint1", - "target": 0.0, - "final_position": 0.01693386770784855, - "final_error": 0.01693386770784855, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.0, - "final_position": 0.004765406250953674, - "final_error": 0.004765406250953674, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -2.081304855644703, - "final_position": -2.0760011672973633, - "final_error": 0.00530368834733963, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 0.0, - "final_position": 0.016777506098151207, - "final_error": 0.016777506098151207, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.0, - "final_position": 0.0025166557170450687, - "final_error": 0.0025166557170450687, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 0.0, - "final_position": 0.01675676740705967, - "final_error": 0.01675676740705967, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iterations_passed": { - "value": 3, - "unit": null - }, - "mjc_iterations_failed": { - "value": 0, - "unit": null - }, - "motion_history_mjc_joint_000": { - "value": { - "schema_version": 1, - "name": "mjc_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 153.45155334472656, - "damping": 0.061380621045827866, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 345, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 202.82273864746094, - "damping": 0.08112909644842148, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 345, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 238.3780975341797, - "damping": 0.09535124152898788, - "max_force": 90.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 345, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - 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"source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.406, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.2118223527808056, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.938, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 6, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 156.33, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.641, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 153.45155334472656, - "damping": 0.061380621045827866, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 19, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 202.82273864746094, - "damping": 0.08112909644842148, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 238.3780975341797, - "damping": 0.09535124152898788, - "max_force": 90.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 29, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 504.2830810546875, - "damping": 0.20171323418617249, - "max_force": 68.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 20, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.3000576496124268, - "damping": 0.001320023089647293, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1.3053487539291382, - "damping": 0.0005221394822001457, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 20, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 9.907, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.211719383102953, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 22.65, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.703, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 41.687801361083984, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 41.687801361083984, - "damping": 0.0, - "max_force": 200.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 58, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 23.449399948120117, - "damping": 0.0, - "max_force": 90.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 14.17389965057373, - "damping": 0.0, - "max_force": 68.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.9602999687194824, - "damping": 0.0, - "max_force": 19.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/ufactory_uf850/.metadata/uf850_validation.json b/ufactory_uf850/.metadata/uf850_validation.json deleted file mode 100644 index fd79b8768001a737c9c671fb027c49366db2c37a..0000000000000000000000000000000000000000 --- a/ufactory_uf850/.metadata/uf850_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/uf850.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP003_RigidBody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP004_Multibody.RobotMuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP021_RobotCore.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "CAP022_DrivenJoints.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP023_RobotMaterials.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP024_BaseArticulation.PhysX.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP025_RosBridge.Ros.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "optional requirements": "['com.nvidia.simready.ROS.001']", - "passed": false, - "version": "0-1-0" - }, - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - }, - "profile_id": "Robot-Body", - "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} - } -} diff --git a/ufactory_uf850/.thumbs/256x256/uf850.usda.png b/ufactory_uf850/.thumbs/256x256/uf850.usda.png deleted file mode 100644 index 81315f5862981541ae7313c7b63ba87c33d01ea7..0000000000000000000000000000000000000000 --- a/ufactory_uf850/.thumbs/256x256/uf850.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:7b9bf2090340fa9599c496d73acd4486796d088a446560c6761cc67340d3f5f5 -size 37409 diff --git a/ufactory_uf850/com.nvidia.simready.packaging.json b/ufactory_uf850/com.nvidia.simready.packaging.json deleted file mode 100644 index 43262261a3a5f3ca878d587fcd35673d6ebef3fc..0000000000000000000000000000000000000000 --- a/ufactory_uf850/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_uf850.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "9fbc9c0ace0757a2552201f0973257ea3f8ae2e6ed81f15e86e53e356047243c" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "654367a4c7a3f0e078cc6fa4cecb662ef90b3fd328e651510f811d40fae75706" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "0a3658d0c459866988d5c8421de695c8888070555347ff2bcf9060165c153f7a" - } - }, - { - "name": "uf850_benchmark.json", - "hash": { - "sha256": "ebb48545b34886354a0b5ca15ffe170356b5b33569ac3dcfc2e9dbd2d345e267" - } - }, - { - "name": "uf850_validation.json", - "hash": { - "sha256": "4caa37652f684fcfbc1236dc94c31ec4065cb8062b5c131cbfe15697daa0c39d" - } - } - ], - "content_hash": { - "sha256": "35d6a4a197760001bbee51f39e887094befe1045a7a74ad1b7d39ef964ae1317" - }, - "package_hash": { - "sha256": "19ff212cde1017fe3ca83eba03bc7173627a2446ecf9a54a6da1deb32533a0c5" - } -} diff --git a/ufactory_uf850/materials/mdl/OmniPBR.mdl b/ufactory_uf850/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_uf850/materials/mdl/OmniPBRBase.mdl b/ufactory_uf850/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/ufactory_uf850/materials/mdl/OmniPBR_ClearCoat.mdl b/ufactory_uf850/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_uf850/materials/mdl/aux_definitions.mdl b/ufactory_uf850/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/ufactory_uf850/materials/mdl/core_definitions.mdl b/ufactory_uf850/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/ufactory_uf850/materials/mdl/license.txt b/ufactory_uf850/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/ufactory_uf850/materials/mdl/support_definitions.mdl b/ufactory_uf850/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/ufactory_uf850/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/ufactory_uf850/payloads/Physics/mujoco.usda b/ufactory_uf850/payloads/Physics/mujoco.usda deleted file mode 100644 index 0eb82516e503279c04e789f3b425907087839297..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,226 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "joints" - { - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - } - - over "world" - { - over "link_base" - { - } - - over "visuals" - { - over "link_base" - { - } - } - - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - ) - { - } - } - } - } - - over "link1" - { - over "visuals" - { - over "link1" - { - } - } - - over "collisions" - { - over "link1" - { - over "mesh_3" ( - ) - { - } - } - } - } - - over "link2" - { - over "visuals" - { - over "link2" - { - } - } - - over "collisions" - { - over "link2" - { - over "mesh_5" ( - ) - { - } - } - } - } - - over "link3" - { - over "visuals" - { - over "link3" - { - } - } - - over "collisions" - { - over "link3" - { - over "mesh_7" ( - ) - { - } - } - } - } - - over "link4" - { - over "visuals" - { - over "link4" - { - } - } - - over "collisions" - { - over "link4" - { - over "mesh_9" ( - ) - { - } - } - } - } - - over "link5" - { - over "visuals" - { - over "link5" - { - } - } - - over "collisions" - { - over "link5" - { - over "mesh_11" ( - ) - { - } - } - } - } - - over "link6" - { - over "link_eef" - { - } - - over "visuals" - { - over "link6" - { - } - } - - over "collisions" - { - over "link6" - { - over "mesh_13" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - over "material_White" - { - } - } - - over "gripper" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/ufactory_uf850/payloads/Physics/none.usda b/ufactory_uf850/payloads/Physics/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Physics/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_uf850/payloads/Physics/physics.usda b/ufactory_uf850/payloads/Physics/physics.usda deleted file mode 100644 index 0a098688acfffc08da0994ffb5ffd1b41443d9bf..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Physics/physics.usda +++ /dev/null @@ -1,343 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "joints" - { - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.06138062 - float drive:angular:physics:maxForce = 200 - float drive:angular:physics:stiffness = 153.45155 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.24552248 - point3f physics:localPos0 = (0, 0, 0.364) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0811291 - float drive:angular:physics:maxForce = 200 - float drive:angular:physics:stiffness = 202.82274 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.3245164 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.4999982, 0.5, -0.5, 0.50000185) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -132 - float physics:upperLimit = 132 - } - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.09535124 - float drive:angular:physics:maxForce = 90 - float drive:angular:physics:stiffness = 238.3781 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.38140497 - point3f physics:localPos0 = (0.39, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.000002559715, -0.7071055, 0.7071081, 0.0000025597242) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -241.99998 - float physics:upperLimit = 3.5000272 - } - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.20171323 - float drive:angular:physics:maxForce = 68 - float drive:angular:physics:stiffness = 504.28308 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.80685294 - point3f physics:localPos0 = (0.15, 0.426, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0013200231 - float drive:angular:physics:maxForce = 19 - float drive:angular:physics:stiffness = 3.3000576 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0052800924 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -123.99952 - float physics:upperLimit = 123.99952 - } - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0005221395 - float drive:angular:physics:maxForce = 19 - float drive:angular:physics:stiffness = 1.3053488 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.002088558 - point3f physics:localPos0 = (0, -0.09, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - } - - over "world" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00025599, -0.0000028579, 0.085749) - float3 physics:diagonalInertia = (0.0063951956, 0.0064375154, 0.004862789) - float physics:mass = 2.2684 - quatf physics:principalAxes = (0.9999299, -0.00007014098, 0.0071282573, 0.009459973) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000057, 0.013842, -0.02055) - float3 physics:diagonalInertia = (0.022001777, 0.018920574, 0.012250252) - float physics:mass = 4.807 - quatf physics:principalAxes = (0.9996244, -0.02734109, -0.0003646353, -0.0018574877) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.323425, 0.000095, 0.007586) - float3 physics:diagonalInertia = (0.0063730148, 0.0642088, 0.062414408) - float physics:mass = 3.28 - quatf physics:principalAxes = (0.99720037, -0.005803615, 0.07454788, 0.0007007727) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.128834, 0.11341, 0.00978) - float3 physics:diagonalInertia = (0.014482214, 0.0031273249, 0.015518822) - float physics:mass = 2.237 - quatf physics:principalAxes = (0.8998011, -0.08446463, 0.20050791, -0.3781804) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000266, -0.03833, -0.101915) - float3 physics:diagonalInertia = (0.019918824, 0.01974966, 0.0020491153) - float physics:mass = 2.041 - quatf physics:principalAxes = (0.9835459, 0.18062553, -0.0011866929, -0.0032372312) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000057, -0.015267, -0.001015) - float3 physics:diagonalInertia = (0.0020774934, 0.0011091079, 0.002035736) - float physics:mass = 1.385 - quatf physics:principalAxes = (0.99995136, -0.003615741, 0.00879987, -0.002624362) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000484, -0.000334, -0.014217001) - float3 physics:diagonalInertia = (0.00013367143, 0.00012488605, 0.00023250251) - float physics:mass = 0.225 - quatf physics:principalAxes = (0.94377893, 0.0012695797, 0.0021827219, -0.3305676) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] - ) - { - rel physics:body1 = - } -} diff --git a/ufactory_uf850/payloads/Physics/physx.usda b/ufactory_uf850/payloads/Physics/physx.usda deleted file mode 100644 index 19b008a9c8ecdf4e0761d6f7ab9abb5635582634..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Physics/physx.usda +++ /dev/null @@ -1,203 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -def "UF_ROBOT" -{ - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 9.6 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 12.1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 5.5 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 2.2 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 3.2 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1.1 - float physxJoint:maxJointVelocity = 179.90874 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } -} - diff --git a/ufactory_uf850/payloads/Sensor/none.usda b/ufactory_uf850/payloads/Sensor/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Sensor/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_uf850/payloads/Sensor/sensors.usda b/ufactory_uf850/payloads/Sensor/sensors.usda deleted file mode 100644 index bec5a0cb02e1d3d0710abfcb18049342e3c573be..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/Sensor/sensors.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" -{ -} - diff --git a/ufactory_uf850/payloads/base.usda b/ufactory_uf850/payloads/base.usda deleted file mode 100644 index 5f19b563f2a22a7777141160922b843130853a54..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/base.usda +++ /dev/null @@ -1,510 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - prepend variantSets = "gripper" -) -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - - def Scope "joints" - { - } - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_base" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link_base" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link_base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link1" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.36399999260902405) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_3" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.49999821186065674, 0.5, -0.5, 0.500001847743988) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.36399999260902405) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_5" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.7071042656898499, -0.7071094512939453, -0.0000012798620900866808, 0.0000012814998626708984) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.0000014007091522216797, 1.4901161193847656e-8, 0.7539999485015869) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_7" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link4" - { - quatd xformOp:orient = (-0.0000054836273193359375, -1.0000001192092896, -0.0000018111563804268371, 1.1547740541573148e-9) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999867975711823, -0.000002463348437231616, 0.32799986004829407) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_9" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link5" - { - quatd xformOp:orient = (-0.7071120142936707, -0.7071017026901245, -0.0000012814952015105519, -0.0000012798668649338651) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999867975711823, -0.000002463348437231616, 0.32799986004829407) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_11" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link6" - { - quatd xformOp:orient = (-0.0000054836273193359375, -1.0000001192092896, -0.0000018111564941136749, 1.1546603673195932e-9) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.14999867975711823, -0.0000037937245451757917, 0.237999826669693) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_eef" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link6" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_13" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "gripper" - { - quatd xformOp:orient = (6.123233995736766e-17, 1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.15, 0, 0.238) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - variantSet "gripper" = { - "xarm_gripper" { - over "gripper" - { - over "left_finger" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "left_inner_knuckle" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "left_outer_knuckle" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "right_finger" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "right_inner_knuckle" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "right_outer_knuckle" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "xarm_gripper_base_link" - { - rel physics:simulationOwner - - over "collisions" - { - rel physics:simulationOwner - } - } - - over "root_joint" - { - point3f physics:localPos0 = (0.0000013262171, -0.0000037937177, -1.7885554e-7) - quatf physics:localRot0 = (1, 0.0000054836273, 1.1546603e-9, 0.0000018111563) - } - } - } - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/ufactory_uf850/payloads/geometries.usd b/ufactory_uf850/payloads/geometries.usd deleted file mode 100644 index 9c16fcbc34b72833bc4d031342c6d14c32cfe43c..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:06969847925d197763b7696fd0619252f6d8a30a29df2d4f3f743182be5e3de6 -size 12892720 diff --git a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper.usd b/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper.usd deleted file mode 100644 index 933669a241cde9df955f2963050de2b1bb6a96ad..0000000000000000000000000000000000000000 Binary files a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper.usd and /dev/null differ diff --git a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_base.usd b/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_base.usd deleted file mode 100644 index c28f99c5cec74704bb9919fa6eb95664e62dacff..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1f356bf48592b1fd465d130b588b69d70a5dc5d7c1b7029807ecd9121d243eed -size 5877373 diff --git a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_physics.usd b/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_physics.usd deleted file mode 100644 index 99d2b234fd313aa3930b608b139e13a0aa6a07ae..0000000000000000000000000000000000000000 Binary files a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_physics.usd and /dev/null differ diff --git a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_robot_schema.usd b/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_robot_schema.usd deleted file mode 100644 index 7bfb6ce8374e2b1f6b45f3bc70175cb6898af8a0..0000000000000000000000000000000000000000 Binary files a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_robot_schema.usd and /dev/null differ diff --git a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_sensor.usd b/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_sensor.usd deleted file mode 100644 index 03b5d0ef4d25265a2b5ad0e84760b55a1699cfe8..0000000000000000000000000000000000000000 Binary files a/ufactory_uf850/payloads/gripper/dependencies/xarm_gripper_sensor.usd and /dev/null differ diff --git a/ufactory_uf850/payloads/gripper/none.usda b/ufactory_uf850/payloads/gripper/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/gripper/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_uf850/payloads/gripper/xarm_gripper.usda b/ufactory_uf850/payloads/gripper/xarm_gripper.usda deleted file mode 100644 index 9fa611105ed8fc4909a497236c18e2382525016c..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/gripper/xarm_gripper.usda +++ /dev/null @@ -1,29 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper"] - } -) -{ - over "gripper" ( - prepend payload = @./dependencies/xarm_gripper.usd@ - ) - { - over "root_joint" - { - custom rel physics:body0 - prepend rel physics:body0 = - } - } -} - diff --git a/ufactory_uf850/payloads/instances.usda b/ufactory_uf850/payloads/instances.usda deleted file mode 100644 index c33bf6479fc2865e028a0851a3af3394f39e126d..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/instances.usda +++ /dev/null @@ -1,738 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "mesh" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_2" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_2" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_3" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_4" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_4" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_5" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_6" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_6" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_7" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_8" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_8" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_9" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_10" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_11" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_11" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_12" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_12" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_13" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_13" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } -} - diff --git a/ufactory_uf850/payloads/materials.usda b/ufactory_uf850/payloads/materials.usda deleted file mode 100644 index 291b69d037767ef4f8b401bc4ca17614ebdc383f..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/materials.usda +++ /dev/null @@ -1,557 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_Black" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Red" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Silver" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.753, 0.753, 0.753) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_______________" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "material_______________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "DefaultMaterial" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "DefaultMaterial" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/ufactory_uf850/payloads/robot.usda b/ufactory_uf850/payloads/robot.usda deleted file mode 100644 index 6058df3e362779c457ce867e92e80b36e8407aee..0000000000000000000000000000000000000000 --- a/ufactory_uf850/payloads/robot.usda +++ /dev/null @@ -1,208 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint5" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint6" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "world" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_base" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_eef" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } -} diff --git a/ufactory_uf850/runnables/physics/mujoco.usda b/ufactory_uf850/runnables/physics/mujoco.usda deleted file mode 100644 index 09b5633d1ecde14451e3e6161cd746af9f0bcd44..0000000000000000000000000000000000000000 --- a/ufactory_uf850/runnables/physics/mujoco.usda +++ /dev/null @@ -1,252 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -def "UF_ROBOT" -{ - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_UF_ROBOT_joints_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -8792.126366379443, -3.516850529817814] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 200 - double mjc:forceRange:min = -200 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -11620.886913784443, -4.648354822204348] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 200 - double mjc:forceRange:min = -200 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -13658.058917066392, -5.463223710943549] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 90 - double mjc:forceRange:min = -90 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28893.292224287197, -11.557316990801679] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 68 - double mjc:forceRange:min = -68 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -189.07937547265428, -0.075631751896609] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 19 - double mjc:forceRange:min = -19 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -74.79097439280065, -0.02991638864721452] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 19 - double mjc:forceRange:min = -19 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } -} - diff --git a/ufactory_uf850/runnables/physics/newton.usda b/ufactory_uf850/runnables/physics/newton.usda deleted file mode 100644 index 990a042cdabae191006a46bf2eb248e3253c3109..0000000000000000000000000000000000000000 --- a/ufactory_uf850/runnables/physics/newton.usda +++ /dev/null @@ -1,190 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -over "UF_ROBOT" -{ - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_3" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_5" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_7" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_9" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_11" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_13" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] - ) - { - bool newton:selfCollisionEnabled = 0 - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 41.6878 - float newton:damping = 1.389593 - float newton:velocityLimit = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 41.6878 - float newton:damping = 1.389593 - float newton:velocityLimit = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 23.4494 - float newton:damping = 0.781646 - float newton:velocityLimit = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 14.1739 - float newton:damping = 0.472462 - float newton:velocityLimit = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.9603 - float newton:damping = 0.132011 - float newton:velocityLimit = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.9603 - float newton:damping = 0.132011 - float newton:velocityLimit = 179.90874 - } - } -} - diff --git a/ufactory_uf850/runnables/physics/physx.usda b/ufactory_uf850/runnables/physics/physx.usda deleted file mode 100644 index 43c5edecc9a010a063ebb1dfa6ca3013c3324e89..0000000000000000000000000000000000000000 --- a/ufactory_uf850/runnables/physics/physx.usda +++ /dev/null @@ -1,273 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend variantSets = "gripper" -) -{ - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_1" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_3" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_5" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_7" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_9" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_11" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_13" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } - - variantSet "gripper" = { - "xarm_gripper" { - over "gripper" - { - over "joints" - { - over "drive_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_inner_knuckle_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_inner_knuckle_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_outer_knuckle_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_finger_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_finger_joint" ( - ) - { - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "root_joint" ( - ) - { - bool physxArticulation:articulationEnabled = 0 - } - } - } - } - -} - diff --git a/ufactory_uf850/uf850.usda b/ufactory_uf850/uf850.usda deleted file mode 100644 index 64c60cbf0188db862014fda28d37af76ace5a5f2..0000000000000000000000000000000000000000 --- a/ufactory_uf850/uf850.usda +++ /dev/null @@ -1,1402 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.2899987, 0.23740397, 0.80408096) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "uf850" - string asset_type = "robot" - string author = "Ufactory" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 16.2433999478817 - string qcode = "Q40687" - int rigid_body_count = 7 - string source_file = "Ufactory/uf850/uf850.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - string Sensor = "none" - string gripper = "none" - } - variantSets = ["gripper", "Sensor", "PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "world" - { - over "collisions" - { - over "link_base" ( - instanceable = false - ) - { - over "mesh_1" - { - token visibility = "invisible" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" ( - instanceable = false - ) - { - over "mesh_3" - { - token visibility = "invisible" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" ( - instanceable = false - ) - { - over "mesh_5" - { - token visibility = "invisible" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" ( - instanceable = false - ) - { - over "mesh_7" - { - token visibility = "invisible" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" ( - instanceable = false - ) - { - over "mesh_9" - { - token visibility = "invisible" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" ( - instanceable = false - ) - { - over "mesh_11" - { - token visibility = "invisible" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" ( - instanceable = false - ) - { - over "mesh_13" - { - token visibility = "invisible" - } - } - } - } - variantSet "gripper" = { - "none" ( - prepend payload = @./payloads/gripper/none.usda@ - ) { - - } - "xarm_gripper" ( - prepend payload = @./payloads/gripper/xarm_gripper.usda@ - ) { - - } - } - variantSet "Sensor" = { - "none" ( - prepend payload = @./payloads/Sensor/none.usda@ - ) { - - } - "sensors" ( - prepend payload = @./payloads/Sensor/sensors.usda@ - ) { - - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 89168f32b75ec113619dc573df45c7f0536cfa79..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package-Candidate", - "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:21", - "assets": [ - { - "asset": "xarm6.usda", - "features": [ - { - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP033_SimReadyPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP031_SelfContainedPackage.OpenUSD.0-1-0" - ] - } - } - ] - } - ], - "content_hash": { - "sha256": "86436d9268b9892d3309a6cf39cbc2204243f73cb134792100400f1d5ce6178f" - } -} diff --git a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json deleted file mode 100644 index 6bb2f06a4d24d03df7d03398cf07914b9177dfe7..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:23", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-2-0" - ] - } - } - ] - } - ] -} diff --git a/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json deleted file mode 100644 index 459def961e892433426e081044d5a85c0366fd1a..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/.metadata/com.nvidia.simready.packaging.bom.json +++ /dev/null @@ -1,248 +0,0 @@ -{ - "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/ufactory_xarm6/3.0.1", - 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} - }, - { - "relative_path": "payloads/Physics/mujoco.usda", - "size": 7671, - "hash": { - "sha256-flat-1mb": "d70fe1d68daa6a9d1e98b8f979778e578786705684a3ddcb83d3e12b3bb2f0be", - "sha256": "c9e035ce77c52549cd506b5a8d2cd4aad55ea82eb983a4920f6cb73078d9e7c4" - } - }, - { - "relative_path": "payloads/Physics/none.usda", - "size": 176, - "hash": { - "sha256-flat-1mb": "83a4f1ac5b3876927e8d66375f9771586b9e9e9c245a524ac01a71dee250abc9", - "sha256": "cd9a532729c93c378175a9d858faff41f567386df85835fd1b09e7317e7b4b17" - } - }, - { - "relative_path": "payloads/Physics/physics.usda", - "size": 23953, - "hash": { - "sha256-flat-1mb": "c3ab5088e82448031052b607111d4adbebfc9df5908554e82f574f141bf171be", - "sha256": "9f029fe08c3721375cd28c700637a11e2f2356fe674ea2b271805ed8bfa7bc16" - } - }, - { - "relative_path": "payloads/Physics/physx.usda", - "size": 11092, - "hash": { - "sha256-flat-1mb": "d346a0c736e640efc67ebadab52b59317c4f773f5707a2b17b5559358c7fc5c7", - "sha256": "42f330fcfa6a3adf8f9a18714ab63fadede15bcac3036284c39ce96d80617d26" - 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} - }, - { - "relative_path": "payloads/Variant_Set/none.usda", - "size": 176, - "hash": { - "sha256-flat-1mb": "83a4f1ac5b3876927e8d66375f9771586b9e9e9c245a524ac01a71dee250abc9", - "sha256": "cd9a532729c93c378175a9d858faff41f567386df85835fd1b09e7317e7b4b17" - } - }, - { - "relative_path": "payloads/Variant_Set/xarm_gripper.usda", - "size": 515, - "hash": { - "sha256-flat-1mb": "561aa7e2cf508fd2fd03e313aa34d04be804227da88b1736de1d35dff4d3ef51", - "sha256": "4aabc6b81e5603b723516b8621243fae3894c39d9377eabfcc08bf3e90164c3f" - } - }, - { - "relative_path": "payloads/base.usda", - "size": 24555, - "hash": { - "sha256-flat-1mb": "28639b9450cbd03a4b1874cc7d70095ba0a318fef11e771c12c40affe2a28441", - "sha256": "411e09b703c7f126af7b808781dc7be98c4a0e1319b134f23a06a708ea031fd3" - } - }, - { - "relative_path": "payloads/geometries.usd", - "size": 9596098, - "hash": { - "sha256-flat-1mb": "782874cd376e35818621d8083f9c85d350a106bbc18215ed00bcec91c544263f", - "sha256": "e1896ea38c3745d75b87b5220eb16a9ea4647044fac8e3d7e7b61cfc5d1367b2", - 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}, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.485, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 10, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 48.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 7, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 7, - "unit": null - }, - "dgv_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235221671715463, - "start": -7.660842675250024e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 102, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5279822310945802, - "start": 0.004383455496281385, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 116, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": -0.5211652723188364, - "start": 0.0024335032794624567, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 132, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236002331545079, - "start": 1.4575562090612948e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 89, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5279942055745833, - "start": 0.004395429976284504, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 98, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235937617263572, - "start": -5.013871941628167e-06, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 100, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_007": { - "value": { - "schema_version": 1, - "name": "dgv_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5237465741480319, - "start": 0.00014779854973312467, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 268, - "json": "motion_history/dgv_joint_007.json", - "csv": "motion_history/dgv_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 91.656, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 7, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.154438821927769, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "drive_joint", - "body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "direction": "-XZ", - "world_com": [ - 0.2055173830065053, - -0.056576524800726835, - 0.03702800825545838 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 2.89, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 84, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 34.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.359, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 7, - "unit": null - }, - "eff_joints_passed": { - "value": 7, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "drive_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 73.29827880859375, - "damping": 0.029319312423467636, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - 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}, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "runtime_lower": 0.0, - "runtime_upper": 0.8499999642372131, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 238.906, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 44.4, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 10656, - "planned_nominal_ticks_estimate": 10656, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 238.78100000007544, - "setup_elapsed_wall_seconds": 2.01500000001397, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3121.2189999999246, - "observed_service_seconds_per_nominal_tick": 0.0222190315315373, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 212.59200000041164, - "attempts": 10656 - }, - "captures": { - "wall_seconds": 8.685999999870546, - "attempts": 82 - }, - "bounds": { - "wall_seconds": 5.717000000411645, - "attempts": 496 - }, - "camera": { - "wall_seconds": 0.9209999999729916, - "attempts": 9660 - }, - "optional_motion": { - "wall_seconds": 1.6350000002421439, - "attempts": 10505 - }, - "commands": { - "wall_seconds": 3.1339999994961545, - "attempts": 10416 - }, - "encoding": { - "wall_seconds": 2.5780000000959262, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 12, - "unit": null - }, - "frs_joints_tested": { - "value": 7, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.154438821927769, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.04462638504359971, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": -8.290447294712067e-05, - "observed_start": -8.290447294712067e-05, - 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}, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "frs_segment_timing_omitted": { - "value": 0, - "unit": null - }, - "frs_joints_passed": { - "value": 7, - "unit": null - }, - "frs_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_frs_joint_001": { - "value": { - "schema_version": 1, - "name": "frs_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.059000015258789, - "runtime_upper": 2.0943996906280518, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 320, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -3.926999807357788, - "runtime_upper": 0.19197998940944672, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 383, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.6929699182510376, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 370, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": 0.0, - "runtime_upper": 0.8499999642372131, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.9999998807907104, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 2.625, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/xarm6/simready_usd/xarm6.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 3.921, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/xarm6/simready_usd/xarm6.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 79.047, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 7, - 8, - 9, - 10, - 11 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 7, - "unit": null - }, - "jik_robot_reach": { - "value": 0.3781, - "unit": null - }, - "jik_target_radius": { - "value": 0.3403, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - "unit": null - 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}, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "drive_joint", - "authored_joint_name": "drive_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_finger_joint", - "authored_joint_name": "left_finger_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/left_finger", - "parent_body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_finger_joint", - "authored_joint_name": "right_finger_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_finger", - "parent_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/world", - "reference_frame": "/World/AssetRoot/Asset/world", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.781, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.923, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 164.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.406, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 1.0, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 29, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.86158, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.054165, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.781, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 4.923, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 164.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.406, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 1.0, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 29, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.86158, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.054165, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.906, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.376, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 675.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 44, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 49972, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 31.906, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.376, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 675.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 4, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 44, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 49972, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 57.219, - "message": "", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 5, - "unit": null - }, - "mim_skipped_pairs": { - "value": 0, - "unit": null - }, - "mimic_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.154438821927769, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 2.624, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 131.2, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.109, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - 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}, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "left_finger_joint", - "gearing": -1.0, - "offset": 0.0, - "mimic_schema_backend": "physx", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_001.json", - "csv": "motion_history/mim_follower_001.csv" - }, - "unit": null - }, - "motion_history_mim_reference_002": { - "value": { - "schema_version": 1, - "name": "mim_reference_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - 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"meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_001.json", - "csv": "motion_history/mim_reference_001.csv" - }, - "unit": null - }, - "motion_history_mim_follower_001": { - "value": { - "schema_version": 1, - "name": "mim_follower_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "left_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_001.json", - "csv": "motion_history/mim_follower_001.csv" - }, - "unit": null - }, - "motion_history_mim_reference_002": { - "value": { - "schema_version": 1, - "name": "mim_reference_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_002.json", - "csv": "motion_history/mim_reference_002.csv" - }, - "unit": null - }, - "motion_history_mim_follower_002": { - "value": { - "schema_version": 1, - "name": "mim_follower_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "left_inner_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "left_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_002.json", - "csv": "motion_history/mim_follower_002.csv" - }, - "unit": null - }, - "motion_history_mim_reference_003": { - "value": { - "schema_version": 1, - "name": "mim_reference_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_003.json", - "csv": "motion_history/mim_reference_003.csv" - }, - "unit": null - }, - "motion_history_mim_follower_003": { - "value": { - "schema_version": 1, - "name": "mim_follower_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_inner_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_inner_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_inner_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_003.json", - "csv": "motion_history/mim_follower_003.csv" - }, - "unit": null - }, - "motion_history_mim_reference_004": { - "value": { - "schema_version": 1, - "name": "mim_reference_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_004.json", - "csv": "motion_history/mim_reference_004.csv" - }, - "unit": null - }, - "motion_history_mim_follower_004": { - "value": { - "schema_version": 1, - "name": "mim_follower_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_outer_knuckle_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_outer_knuckle_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_outer_knuckle_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_004.json", - "csv": "motion_history/mim_follower_004.csv" - }, - "unit": null - }, - "motion_history_mim_reference_005": { - "value": { - "schema_version": 1, - "name": "mim_reference_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_reference_005.json", - "csv": "motion_history/mim_reference_005.csv" - }, - "unit": null - }, - "motion_history_mim_follower_005": { - "value": { - "schema_version": 1, - "name": "mim_follower_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "incremental_displacement": { - "unit": "rad", - "source": "measured follower position minus measured pair rest position" - }, - "expected_displacement": { - "unit": "rad", - "source": "backend-normalized multiplier times measured reference displacement; constant offset cancels" - }, - "incremental_error": { - "unit": "rad", - "source": "absolute incremental follower displacement error; not the magnitude-ratio verdict" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "reference_joint_name": "drive_joint", - "follower_joint_name": "right_finger_joint", - "gearing": 1.0, - "offset": -0.0, - "mimic_schema_backend": "newton", - "diagnostic_multiplier": 1.0, - "diagnostic_absolute_offset": -0.0, - "absolute_equation_unit_basis": "raw numeric authored offset after backend sign normalization; angular offset conversion not qualified; residual diagnostic only", - "coefficient_unit_caveat": "interpret scaling only with verified compatible reference/follower coordinate units; mixed joint types are not universally qualified", - "formula_basis": "follower displacement = backend-normalized multiplier * measured reference displacement; constant absolute offset cancels; diagnostic only", - "gear_ratio_tolerance": 0.1, - "observation_basis": "existing every-ten-step mimic readback; pair-local nominal step time excludes rendering ticks", - "joint_name": "right_finger_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_finger_joint", - "meters_per_unit": 1.0, - "authored_drive": {} - }, - "clock_source": "estimated", - "stop_reason": "mimic_pair_sweep_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 48, - "json": "motion_history/mim_follower_005.json", - "csv": "motion_history/mim_follower_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 35.937, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 12, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.154438821927769, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 2.0105364497751, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.507902337331325, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274200118872816 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.6476532276463696, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.4857399207347772, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002021105341483238 - }, - { - "name": "joint3", - "index": 2, - "displacement": 2.5274731257115493, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.895604844283662, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.007887383582407138 - }, - { - "name": "joint4", - "index": 3, - "displacement": 2.010615739011155, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 1.5079618042583662, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.006274447553598178 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.052114034984260815, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.03908552623819561, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00016263016993787321 - 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"ramp_seconds": 2.0458333333333334, - "hold_seconds": 6.0, - "observation_seconds": 8.045833333333333, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 3.0018627405166622, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 2.200958424818734, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008953034714238584 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.9937452507019042, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7286115891093391, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002963838288314591 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.972361086308956, - "velocity_hint": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.7129327720391531, - 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}, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -2.010619354248047, - "final_position": -1.9965530633926392, - "final_error": 0.014066290855407892, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.6468441152572633, - "final_position": -0.6437734365463257, - "final_error": 0.00307067871093758, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -2.5265466764569284, - "final_position": -2.510352611541748, - "final_error": 0.016194064915180384, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -2.010619354248047, - "final_position": -1.9959100484848022, - "final_error": 0.014709305763244807, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": -0.04921861410140993, - "final_position": -0.051035888493061066, - "final_error": 0.0018172743916511358, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": -2.010619354248047, - 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"unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 73.29827880859375, - "damping": 0.029319312423467636, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 344, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 114.32548522949219, - "damping": 0.04573019593954086, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 344, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - 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"timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 350, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.343, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.141, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 142.62, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000106, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000499, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.343, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.141, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 142.62, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.797, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000106, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000499, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 32.219, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.063, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 612.6, - "unit": null - }, - 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}, - "mtlx_surface_deinstanced_prims": { - "value": 44, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 7, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 49947, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 32.219, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.063, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 612.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - 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"status": "pass", - "passed": true, - "duration": 146.328, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.1541746094451883, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.143, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 70, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 16.33, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.063, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 7, - "unit": null - }, - "sta_joints_passed": { - "value": 7, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.28332196705555895, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 174, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 177, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 177, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 174, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 170, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 24.984, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.154438821927769, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 2.094, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 10, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 209.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.812, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 73.29827880859375, - "damping": 0.029319312423467636, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 114.32548522949219, - "damping": 0.04573019593954086, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 18, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 95.28044128417969, - "damping": 0.038112178444862366, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 283.05999755859375, - "damping": 0.11322399973869324, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 22, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 9.763504981994629, - "damping": 0.003905401797965169, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 19, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2.0782108306884766, - "damping": 0.0008312843856401742, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 23, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.5453881621360779, - "damping": 0.0002181552699767053, - "max_force": 1000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.156, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 7, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 2.1541746094451883, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.438, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 24, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 18.25, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.734, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 7, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 56, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 116, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.670000076293945, - "damping": 0.0, - "max_force": 32.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 78, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 78, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - } - ] -} diff --git a/ufactory_xarm6/.metadata/xarm6_validation.json b/ufactory_xarm6/.metadata/xarm6_validation.json deleted file mode 100644 index b12aef3566492c2f4ab2f4a4f3ed94ce40e7b34f..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/.metadata/xarm6_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/xarm6.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.PhysX.0-1-0": { - 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"version": "0-1-0" - }, - "CAP033_SimReadyPackage.OpenUSD.0-4-0": { - "blocking_failure": false, - "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']", - "passed": true, - "version": "0-4-0" - }, - "CAP100_IsaacComposition.Isaac.0-3-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-3-0" - }, - "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "1-0-1" - }, - "FET003_RigidBody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET003_RigidBody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET003_RigidBody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.Newton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET004_Multibody.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET004_Multibody.PhysX.0-4-0": { - "blocking_failure": false, - "dependencies": "['FET003_RigidBody.PhysX.0-4-0']", - "passed": true, - "version": "0-4-0" - }, - "FET004_Multibody.RobotNewton.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET006_Materials.MDL.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-2-0" - }, - "FET006_Materials.Openpbr.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET010_DisplayColor.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.Isaac.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "FET022_DrivenJoints.OpenUSD.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']", - "passed": true, - "version": "0-2-0" - }, - "FET022_DrivenJoints.PhysX.0-2-0": { - "blocking_failure": false, - "dependencies": "['FET004_Multibody.PhysX.0-4-0']", - "passed": true, - "version": "0-2-0" - } - }, - "profile_id": "Robot-Body", - "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} - } -} diff --git a/ufactory_xarm6/.thumbs/256x256/xarm6.usda.png b/ufactory_xarm6/.thumbs/256x256/xarm6.usda.png deleted file mode 100644 index 20ed4059bc8ac019649f2320ddae9877de97fa66..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/.thumbs/256x256/xarm6.usda.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6e47e19d48c012ef4456c8f0f0152361acd3e019e2ada49184ef3d56401450a5 -size 39950 diff --git a/ufactory_xarm6/com.nvidia.simready.packaging.json b/ufactory_xarm6/com.nvidia.simready.packaging.json deleted file mode 100644 index 585814cfdaa165fe8e0f6598ce95461c38a9698a..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/com.nvidia.simready.packaging.json +++ /dev/null @@ -1,43 +0,0 @@ -{ - "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.ufactory_xarm6.3.0.1", - "license": "unknown", - "metadata": [ - { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", - "hash": { - "sha256": "b3d7a337ff7a301cb0e61bb1bbeac87211a29d82bfea3cf98deea391d30ea412" - } - }, - { - "name": "com.nvidia.simready.packaging.bom.json", - "hash": { - "sha256": "8a2d9bcbbc99a74e4dbf0d019d7a48594eafe95d203e990c9829750aa9e4bc8a" - } - }, - { - "name": "com.nvidia.simready.root_usds.json", - "hash": { - "sha256": "b0f399b1ef06f169d35ca058f2410309f1c7b9fd96c093f3f33de243d56b4fb3" - } - }, - { - "name": "xarm6_benchmark.json", - "hash": { - "sha256": "a18a8e557d7857099a9c08cb512f79f261734e9ef4f1226abb97da8095f511c1" - } - }, - { - "name": "xarm6_validation.json", - "hash": { - "sha256": "ffd7147f8bae914cd06e4c5db9bbf44ebc6c52b9650c43b1a80a20a55ec3a3c0" - } - } - ], - "content_hash": { - "sha256": "86436d9268b9892d3309a6cf39cbc2204243f73cb134792100400f1d5ce6178f" - }, - "package_hash": { - "sha256": "aec54065792a9016cb3e315d3dc0984b80827c6ab93e14c0b4d47f23c39c0036" - } -} diff --git a/ufactory_xarm6/materials/mdl/OmniPBR.mdl b/ufactory_xarm6/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_xarm6/materials/mdl/OmniPBRBase.mdl b/ufactory_xarm6/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/ufactory_xarm6/materials/mdl/OmniPBR_ClearCoat.mdl b/ufactory_xarm6/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_xarm6/materials/mdl/aux_definitions.mdl b/ufactory_xarm6/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/ufactory_xarm6/materials/mdl/core_definitions.mdl b/ufactory_xarm6/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/ufactory_xarm6/materials/mdl/license.txt b/ufactory_xarm6/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/ufactory_xarm6/materials/mdl/support_definitions.mdl b/ufactory_xarm6/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/ufactory_xarm6/payloads/Physics/mujoco.usda b/ufactory_xarm6/payloads/Physics/mujoco.usda deleted file mode 100644 index da960a490245e4989e77d9ab10d417af56aaab4c..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,427 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "left_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "xarm_gripper_base_link" - { - over "link_tcp" - { - } - - over "visuals" - { - over "base_link" - { - } - } - - over "collisions" - { - over "base_link" - { - over "mesh" ( - ) - { - } - } - } - } - - over "left_outer_knuckle" - { - over "visuals" - { - over "left_outer_knuckle" - { - } - } - - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - ) - { - } - } - } - } - - over "left_finger" - { - over "visuals" - { - over "left_finger" - { - } - } - - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - ) - { - } - } - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - over "left_inner_knuckle" - { - } - } - - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - ) - { - } - } - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - over "right_inner_knuckle" - { - } - } - - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - ) - { - } - } - } - } - - over "right_outer_knuckle" - { - over "visuals" - { - over "right_outer_knuckle" - { - } - } - - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - ) - { - } - } - } - } - - over "right_finger" - { - over "visuals" - { - over "right_finger" - { - } - } - - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - } - } - - over "joints" - { - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - } - - over "world" - { - over "link_base" - { - } - - over "visuals" - { - over "link_base" - { - } - } - - over "collisions" - { - over "link_base" - { - over "mesh_13" ( - ) - { - } - } - } - } - - over "link1" - { - over "visuals" - { - over "link1" - { - } - } - - over "collisions" - { - over "link1" - { - over "mesh_14" ( - ) - { - } - } - } - } - - over "link2" - { - over "visuals" - { - over "link2" - { - } - } - - over "collisions" - { - over "link2" - { - over "mesh_15" ( - ) - { - } - } - } - } - - over "link3" - { - over "visuals" - { - over "link3" - { - } - } - - over "collisions" - { - over "link3" - { - over "mesh_16" ( - ) - { - } - } - } - } - - over "link4" - { - over "visuals" - { - over "link4" - { - } - } - - over "collisions" - { - over "link4" - { - over "mesh_17" ( - ) - { - } - } - } - } - - over "link5" - { - over "visuals" - { - over "link5" - { - } - } - - over "collisions" - { - over "link5" - { - over "mesh_18" ( - ) - { - } - } - } - } - - over "link6" - { - over "link_eef" - { - } - - over "visuals" - { - over "link6" - { - } - } - - over "collisions" - { - over "end_tool" - { - over "mesh_20" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - over "material_Silver" - { - } - - over "material_White" - { - } - } - - over "VisualMaterials" - { - } -} - diff --git a/ufactory_xarm6/payloads/Physics/none.usda b/ufactory_xarm6/payloads/Physics/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Physics/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm6/payloads/Physics/physics.usda b/ufactory_xarm6/payloads/Physics/physics.usda deleted file mode 100644 index 442ced94e5c58ca12638e325b38cff197cab5713..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Physics/physics.usda +++ /dev/null @@ -1,647 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - def PhysicsRevoluteJoint "drive_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.00021815527 - float drive:angular:physics:maxForce = 1000 - float drive:angular:physics:stiffness = 0.54538816 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0008726211 - point3f physics:localPos0 = (0, 0.035, 0.059098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = 0 - float physics:upperLimit = 48.701412 - } - - def PhysicsRevoluteJoint "left_finger_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00037557803 - point3f physics:localPos0 = (0, 0.035465, 0.042039) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00030888498 - point3f physics:localPos0 = (0, 0.02, 0.074098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0003042112 - point3f physics:localPos0 = (0, -0.02, 0.074098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00081987266 - point3f physics:localPos0 = (0, -0.035, 0.059098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_finger_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00037432538 - point3f physics:localPos0 = (0, -0.035465, 0.042039) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - } - - over "xarm_gripper_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00065489, -0.0018497001, 0.048028) - float3 physics:diagonalInertia = (0.0004710948, 0.00033230297, 0.0002548022) - float physics:mass = 0.54156 - quatf physics:principalAxes = (0.99740654, 0.07167488, 0.006125353, -0.0023352539) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (2.9948e-14, 0.021559, 0.015181) - float3 physics:diagonalInertia = (0.000019111, 0.0000019016687, 0.000017908931) - float physics:mass = 0.033618 - quatf physics:principalAxes = (0.95905584, -0.28321707, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-2.4536e-14, -0.016413, 0.029258) - float3 physics:diagonalInertia = (0.000017493, 0.000018803687, 0.0000035679147) - float physics:mass = 0.048304 - quatf physics:principalAxes = (0.98660403, -0.16313326, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0000018660079, 0.022046784, 0.026133467) - float3 physics:diagonalInertia = (0.0000060949, 0.000008342161, 0.0000027560097) - float physics:mass = 0.023012578 - quatf physics:principalAxes = (0.9392398, 0.34326172, -0.000004853818, 0.000020194318) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000001866, -0.022047, 0.026133) - float3 physics:diagonalInertia = (0.0000060949, 0.00000834209, 0.0000027560104) - float physics:mass = 0.023013 - quatf physics:principalAxes = (0.93924576, -0.34324545, -0.0000048531947, -0.000020195002) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-3.1669e-14, -0.021559, 0.015181) - float3 physics:diagonalInertia = (0.000019111, 0.0000019016687, 0.000017908931) - float physics:mass = 0.033618 - quatf physics:principalAxes = (0.95905584, 0.28321707, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (2.5618e-14, 0.016413, 0.029258) - float3 physics:diagonalInertia = (0.000017493, 0.000018803807, 0.0000035677933) - float physics:mass = 0.048304 - quatf physics:principalAxes = (0.98660326, 0.16313848, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" - { - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-1.4901161e-8, -5.543226e-7, -8.1960415e-8) - quatf physics:localRot0 = (1, 0.0000036358833, 0, 0) - } - } - - over "joints" - { - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.029319312 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 73.29828 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.11727725 - point3f physics:localPos0 = (0, 0, 0.267) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.045730196 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 114.325485 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.18292078 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -117.97201 - float physics:upperLimit = 120.00027 - } - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.03811218 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 95.28044 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.15244871 - point3f physics:localPos0 = (0.0535, -0.2845, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -225.00052 - float physics:upperLimit = 10.999643 - } - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.113224 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 283.06 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.452896 - point3f physics:localPos0 = (0.0775, 0.3425, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0039054018 - float drive:angular:physics:maxForce = 32 - float drive:angular:physics:stiffness = 9.763505 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.015621607 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -97.00003 - float physics:upperLimit = 180 - } - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0008312844 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 2.0782108 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0033251375 - point3f physics:localPos0 = (0.076, 0.097, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - } - - over "world" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0.09103) - float3 physics:diagonalInertia = (0.0049502417, 0.004940307, 0.0022189417) - float physics:mass = 2.7 - quatf physics:principalAxes = (0.9810616, 0.0007472661, -0.002186588, -0.19368237) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link_base" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.00022, 0.02951, -0.0124) - float3 physics:diagonalInertia = (0.0058569694, 0.0054443358, 0.0031231462) - float physics:mass = 2.3814 - quatf physics:principalAxes = (0.9761389, -0.21607858, -0.0038730428, -0.021167317) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link1" - { - over "mesh_14" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.03881, -0.22783, 0.03496) - float3 physics:diagonalInertia = (0.029447667, 0.0038344867, 0.028178321) - float physics:mass = 2.2675 - quatf physics:principalAxes = (0.9816962, 0.08323946, 0.12834497, 0.113451876) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link2" - { - over "mesh_15" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.07041, 0.11631, 0.0107) - float3 physics:diagonalInertia = (0.007141316, 0.001967532, 0.0069947117) - float physics:mass = 1.875 - quatf physics:principalAxes = (0.89899915, -0.2971964, -0.300907, -0.11371001) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link3" - { - over "mesh_16" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00018, 0.01798, -0.02291) - float3 physics:diagonalInertia = (0.0048961407, 0.0044740294, 0.0013260889) - float physics:mass = 1.3192 - quatf physics:principalAxes = (0.99929017, -0.036970165, 0.0017942905, -0.0070117405) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link4" - { - over "mesh_17" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0651, 0.03096, 0.00315) - float3 physics:diagonalInertia = (0.001087311, 0.0021336714, 0.0024182417) - float physics:mass = 1.33854 - quatf physics:principalAxes = (0.9513926, 0.044362426, 0.13940279, 0.27101883) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link5" - { - over "mesh_18" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, -0.00677, -0.01098) - float3 physics:diagonalInertia = (0.000093, 0.000058523616, 0.00013217637) - float physics:mass = 0.17 - quatf physics:principalAxes = (0.9997004, 0.024475647, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "end_tool" - { - over "mesh_20" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] - ) - { - rel physics:body1 = - } -} diff --git a/ufactory_xarm6/payloads/Physics/physx.usda b/ufactory_xarm6/payloads/Physics/physx.usda deleted file mode 100644 index a463974f874258dab14eed2d199c19a710d755f8..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Physics/physx.usda +++ /dev/null @@ -1,407 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -def "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 114.59155 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "xarm_gripper_base_link" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:articulationEnabled = 0 - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_13" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_14" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_15" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_16" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_17" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_18" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "end_tool" - { - over "mesh_20" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } -} - diff --git a/ufactory_xarm6/payloads/Sensor/none.usda b/ufactory_xarm6/payloads/Sensor/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Sensor/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm6/payloads/Sensor/sensors.usda b/ufactory_xarm6/payloads/Sensor/sensors.usda deleted file mode 100644 index bec5a0cb02e1d3d0710abfcb18049342e3c573be..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Sensor/sensors.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper.usd b/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper.usd deleted file mode 100644 index 933669a241cde9df955f2963050de2b1bb6a96ad..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper.usd and /dev/null differ diff --git a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_base.usd b/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_base.usd deleted file mode 100644 index c28f99c5cec74704bb9919fa6eb95664e62dacff..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1f356bf48592b1fd465d130b588b69d70a5dc5d7c1b7029807ecd9121d243eed -size 5877373 diff --git a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd b/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd deleted file mode 100644 index 99d2b234fd313aa3930b608b139e13a0aa6a07ae..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd and /dev/null differ diff --git a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd b/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd deleted file mode 100644 index 7bfb6ce8374e2b1f6b45f3bc70175cb6898af8a0..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd and /dev/null differ diff --git a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd b/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd deleted file mode 100644 index 03b5d0ef4d25265a2b5ad0e84760b55a1699cfe8..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm6/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd and /dev/null differ diff --git a/ufactory_xarm6/payloads/Variant_Set/none.usda b/ufactory_xarm6/payloads/Variant_Set/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Variant_Set/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm6/payloads/Variant_Set/xarm_gripper.usda b/ufactory_xarm6/payloads/Variant_Set/xarm_gripper.usda deleted file mode 100644 index 91f45208f9d94816de1eecc30fc79fcf14880f64..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/Variant_Set/xarm_gripper.usda +++ /dev/null @@ -1,29 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper/root_joint", "gripper"] - } -) -{ - over "gripper" ( - prepend payload = @./dependencies/xarm_gripper.usd@ - ) - { - over "root_joint" - { - custom rel physics:body0 - prepend rel physics:body0 = - } - } -} - diff --git a/ufactory_xarm6/payloads/base.usda b/ufactory_xarm6/payloads/base.usda deleted file mode 100644 index f294f451be02e3e77d2f1e669aebc02b4497a6b9..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/base.usda +++ /dev/null @@ -1,753 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper/root_joint", "gripper"] - } -) -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "gripper" - { - quatd xformOp:orient = (6.123233995736766e-17, 1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.207, 0, 0.112) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - } - - def Scope "joints" - { - } - - def Xform "xarm_gripper_base_link" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_tcp" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.1720000058412552) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "base_link" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "base_link" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.03500000014901161, 0.059098001569509506) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_finger" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.07046499848365784, 0.10113699734210968) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.019999999552965164, 0.07409799844026566) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.019999999552965164, 0.07409799844026566) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_8" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.03500000014901161, 0.059098001569509506) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_10" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_finger" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.07046499848365784, 0.10113699734210968) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_12" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - } - - def Scope "Looks" - { - def Material "material_Silver" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_White" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - - def Scope "joints" - { - } - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_base" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link_base" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link_base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_13" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link1" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2669999897480011) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link1" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_14" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2669999897480011) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link2" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_15" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link3" - { - quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.05350000783801079, 0.000001017451268126024, 0.5514999628067017) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link3" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_16" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link4" - { - quatd xformOp:orient = (-0.000003635883331298828, -1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.13100001215934753, -2.0742413653351832e-7, 0.20899993181228638) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link4" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_17" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link5" - { - quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.13100001215934753, -2.0742413653351832e-7, 0.20899993181228638) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link5" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_18" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link6" - { - quatd xformOp:orient = (-0.000003635883331298828, -1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.2070000171661377, -5.543231509363977e-7, 0.11199992150068283) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_eef" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link6" ( - prepend apiSchemas = ["MaterialBindingAPI"] - instanceable = true - prepend references = @./instances.usda@ - ) - { - rel material:binding = ( - bindMaterialAs = "strongerThanDescendants" - ) - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "end_tool" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_20" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/ufactory_xarm6/payloads/geometries.usd b/ufactory_xarm6/payloads/geometries.usd deleted file mode 100644 index d16e4db5e9ab9e8ad5eceb375323d6f7a9be446c..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:e1896ea38c3745d75b87b5220eb16a9ea4647044fac8e3d7e7b61cfc5d1367b2 -size 9596098 diff --git a/ufactory_xarm6/payloads/instances.usda b/ufactory_xarm6/payloads/instances.usda deleted file mode 100644 index 01b1f3f947bf45da4c059dbc677456759228657e..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/instances.usda +++ /dev/null @@ -1,1175 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "mesh" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_2" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_3" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_4" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_5" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_6" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_7" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_8" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_9" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_10" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_11" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_11" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_12" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_12" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_13" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_13" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_13_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_13" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_14" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_14_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_15" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_15" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_15_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_15" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_16" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_16" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_16_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_16" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_17" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_17" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_17_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_17" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_18" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_18" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_18_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_18" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_19" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_19" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_20" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_20" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } -} - diff --git a/ufactory_xarm6/payloads/materials.usda b/ufactory_xarm6/payloads/materials.usda deleted file mode 100644 index a1bd85f6e9b5a5a31094e9f1865df91255f08476..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/materials.usda +++ /dev/null @@ -1,563 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "DefaultMaterial" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "DefaultMaterial" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "j____________" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "j____________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Red" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Silver" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.753, 0.753, 0.753) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_White" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/ufactory_xarm6/payloads/robot.usda b/ufactory_xarm6/payloads/robot.usda deleted file mode 100644 index a9ba638ee343f1cd0d6a072a3f2756062854dee7..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/payloads/robot.usda +++ /dev/null @@ -1,516 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string[] isaac:changelog ( - displayName = "Changelog" - ) - string isaac:description ( - displayName = "Description" - ) - token isaac:license ( - displayName = "License" - ) - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - rel isaac:physics:robotJoints ( - displayName = "Robot Joints" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - ] - rel isaac:physics:robotLinks ( - displayName = "Robot Links" - ) - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" ( - displayName = "Robot Type" - ) - string isaac:source ( - displayName = "Source" - ) - string isaac:version ( - displayName = "Version" - ) - - over "gripper" ( - prepend apiSchemas = ["IsaacRobotAPI"] - ) - { - string[] isaac:changelog ( - displayName = "Changelog" - ) - string isaac:description ( - displayName = "Description" - ) - token isaac:license ( - displayName = "License" - ) - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - ] ( - displayName = "Robot Joints" - ) - rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - ] ( - displayName = "Robot Links" - ) - token isaac:robotType ( - displayName = "Robot Type" - ) - string isaac:source ( - displayName = "Source" - ) - string isaac:version ( - displayName = "Version" - ) - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_finger_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_finger_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "xarm_gripper_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "link_tcp" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - bool[] isaac:actuator ( - displayName = "Actuator" - ) - string isaac:NameOverride ( - displayName = "Joint Name Override" - ) - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - token[] isaac:physics:DofOffsetOpOrder ( - displayName = "Dof Offset Op Order" - ) - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - bool[] isaac:actuator ( - displayName = "Actuator" - ) - string isaac:NameOverride ( - displayName = "Joint Name Override" - ) - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - token[] isaac:physics:DofOffsetOpOrder ( - displayName = "Dof Offset Op Order" - ) - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint5" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint6" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "world" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "link_base" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - - over "link_eef" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } -} diff --git a/ufactory_xarm6/runnables/physics/mujoco.usda b/ufactory_xarm6/runnables/physics/mujoco.usda deleted file mode 100644 index df8e9903b9898e1d2dfd9fc36b6adab719a0d2c2..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/runnables/physics/mujoco.usda +++ /dev/null @@ -1,451 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -def "UF_ROBOT" -{ - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - } - - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_13" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_14" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_15" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_16" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_17" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_18" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "end_tool" - { - over "mesh_20" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_UF_ROBOT_gripper_joints_drive_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -31.24843988679391, -0.012499376248202255] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 1000 - double mjc:forceRange:min = -1000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -4199.682021305622, -1.6798728600901771] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -6550.367794435134, -2.6201472236419856] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -5459.167155727546, -2.183666972940083] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -16218.143209090807, -6.487257324617458] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -559.407628723245, -0.22376304032620759] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 32 - double mjc:forceRange:min = -32 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -119.07270953682661, -0.04762908687230751] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } -} - diff --git a/ufactory_xarm6/runnables/physics/newton.usda b/ufactory_xarm6/runnables/physics/newton.usda deleted file mode 100644 index 412d3951475e895271d659f9c8efbd6e0f09fe7a..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/runnables/physics/newton.usda +++ /dev/null @@ -1,370 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 10 - float drive:angular:physics:stiffness = 3.2725 - float newton:damping = 0.109083 - float newton:velocityLimit = 114.59155 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - } - - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_13" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_14" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_15" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_16" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_17" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_18" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "end_tool" - { - over "mesh_20" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] - ) - { - bool newton:selfCollisionEnabled = 0 - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10.4219 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 45 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 60 - float newton:damping = 0.625873 - float newton:velocityLimit = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.67 - float newton:damping = 0.222335 - float newton:velocityLimit = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.67 - float newton:damping = 0.222335 - float newton:velocityLimit = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4.1688 - float newton:damping = 0.138959 - float newton:velocityLimit = 179.90874 - } - } -} - diff --git a/ufactory_xarm6/runnables/physics/physx.usda b/ufactory_xarm6/runnables/physics/physx.usda deleted file mode 100644 index 7558bd8ec22233274a1d475fd4651d2c4c1ef1f9..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/runnables/physics/physx.usda +++ /dev/null @@ -1,428 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:maxJointVelocity = 114.59155 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "xarm_gripper_base_link" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "base_link" - { - over "mesh" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_outer_knuckle" - { - over "mesh_2" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_finger" - { - over "mesh_4" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_inner_knuckle" - { - over "mesh_6" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_inner_knuckle" - { - over "mesh_8" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_outer_knuckle" - { - over "mesh_10" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_finger" - { - over "mesh_12" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:articulationEnabled = 0 - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_13" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_14" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_15" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_16" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_17" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_18" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "end_tool" - { - over "mesh_20" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } -} - diff --git a/ufactory_xarm6/xarm6.usda b/ufactory_xarm6/xarm6.usda deleted file mode 100644 index 1e2f93db45a3e778db943d03df8a20e48f685b2e..0000000000000000000000000000000000000000 --- a/ufactory_xarm6/xarm6.usda +++ /dev/null @@ -1,1524 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.33678496, 0.20547232, 0.64452136) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "xarm6" - string asset_type = "robot" - string author = "Ufactory" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 12.803069647401571 - string qcode = "Q40687" - int rigid_body_count = 14 - string source_file = "Ufactory/xarm6/xarm6.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - string Sensor = "none" - string Variant_Set = "none" - } - variantSets = ["Variant_Set", "Sensor", "PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - token visibility = "invisible" - - over "base_link" ( - instanceable = false - ) - { - over "mesh" - { - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" ( - instanceable = false - ) - { - over "mesh_2" - { - token visibility = "invisible" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" ( - instanceable = false - ) - { - over "mesh_4" - { - token visibility = "invisible" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" ( - instanceable = false - ) - { - over "mesh_6" - { - token visibility = "invisible" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" ( - instanceable = false - ) - { - over "mesh_8" - { - token visibility = "invisible" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" ( - instanceable = false - ) - { - over "mesh_10" - { - token visibility = "invisible" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" ( - instanceable = false - ) - { - over "mesh_12" - { - token visibility = "invisible" - } - } - } - } - } - - over "world" - { - over "collisions" - { - token visibility = "invisible" - - over "link_base" ( - instanceable = false - ) - { - over "mesh_13" - { - } - } - } - } - - over "link1" - { - over "collisions" - { - token visibility = "invisible" - - over "link1" ( - instanceable = false - ) - { - over "mesh_14" - { - } - } - } - } - - over "link2" - { - over "collisions" - { - token visibility = "invisible" - - over "link2" ( - instanceable = false - ) - { - over "mesh_15" - { - } - } - } - } - - over "link3" - { - over "collisions" - { - token visibility = "invisible" - - over "link3" ( - instanceable = false - ) - { - over "mesh_16" - { - } - } - } - } - - over "link4" - { - over "collisions" - { - token visibility = "invisible" - - over "link4" ( - instanceable = false - ) - { - over "mesh_17" - { - } - } - } - } - - over "link5" - { - over "collisions" - { - token visibility = "invisible" - - over "link5" ( - instanceable = false - ) - { - over "mesh_18" - { - } - } - } - } - - over "link6" - { - over "collisions" - { - over "end_tool" ( - instanceable = false - ) - { - over "mesh_20" - { - token visibility = "invisible" - } - } - } - } - variantSet "Variant_Set" = { - "none" ( - prepend payload = @./payloads/Variant_Set/none.usda@ - ) { - - } - "xarm_gripper" ( - prepend payload = @./payloads/Variant_Set/xarm_gripper.usda@ - ) { - - } - } - variantSet "Sensor" = { - "none" ( - prepend payload = @./payloads/Sensor/none.usda@ - ) { - - } - "sensors" ( - prepend payload = @./payloads/Sensor/sensors.usda@ - ) { - - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 29ae0cbb4910e55bdef439695830eeba442f3e43..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package-Candidate", - "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:25", - "assets": [ - { - "asset": "xarm7.usda", - "features": [ - { - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP033_SimReadyPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP031_SelfContainedPackage.OpenUSD.0-1-0" - ] - } - } - ] - } - ], - "content_hash": { - "sha256": "439bfe4c480abb69a70b0261d03f634029d453160db78ee65452b1377a0ed600" - } -} diff --git a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json deleted file mode 100644 index 8d6a9d5e9d6f499c40cc9275da13674e9749a1ab..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:27", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP032_PackagingIntrospection.OpenUSD.0-2-0": { - "version": "0.0.0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP030_PackagingCore.OpenUSD.0-2-0" - ] - } - } - ] - } - ] -} diff --git a/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json b/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json deleted file mode 100644 index 6769693e82ac667556db426ab892a4dd4497c181..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/.metadata/com.nvidia.simready.packaging.bom.json +++ /dev/null @@ -1,248 +0,0 @@ -{ - "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/ufactory_xarm7/3.0.1", - "items": [ - { - "relative_path": ".thumbs/256x256/xarm7.usda.png", - "size": 41103, - "hash": { - "sha256-flat-1mb": "9fc82d6dd218a2cf094b674a4cad88731b47cdf0511d7e8533410056ace164b4", - "sha256": "61dafbe26f4affb9e4344e8dce68c96eddaf091a02fdb2b9a1075a1ab22c2fc6" - } - }, - { - "relative_path": "materials/mdl/OmniPBR.mdl", - "size": 13969, - "hash": { - 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"schema_version": "1.0", - "asset": "xarm7", - "run_timestamp": "2026-10-31T20:07:08.573916+00:00", - "passed": false, - "results": [ - { - "test_name": "culling_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.984, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.376, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 148.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.906, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "culling_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.984, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.376, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 16, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 148.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.906, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "culling_xz_qualified_pairs": { - "value": 8, - "unit": null - }, - "culling_xz_omitted_pairs": { - "value": 0, - "unit": null - }, - "culling_xz_omitted_indices": { - "value": [], - "unit": null - }, - "culling_xz_coverage_complete": { - "value": 1, - "unit": null - }, - "culling_xz_max_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_mean_diff": { - "value": 0.0, - "unit": null - }, - "culling_xz_worst_angle": { - "value": 0.0, - "unit": null - }, - "culling_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "display_color_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 54.203, - "message": "", - "metrics": { - "display_color_render_context_previous": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "display_color_render_context_requested": { - "value": "mtlx", - "unit": null - }, - "display_color_render_context_order": { - "value": "mtlx", - "unit": null - }, - "display_color_asset_root": { - "value": "/World/_SimReadyDisplayColorAsset/Asset", - "unit": null - }, - "display_color_test_scene_deinstanced_prims": { - "value": 52, - "unit": null - }, - "display_color_test_scene_instances_remaining": { - "value": 0, - "unit": null - 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}, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5237460189633621, - "start": 0.00014724336506333202, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 268, - "json": "motion_history/dgv_joint_008.json", - "csv": "motion_history/dgv_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 105.656, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 8, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9502149273510054, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "drive_joint", - "body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "direction": "-XZ", - "world_com": [ - 0.2048601331631071, - -0.05653991370239183, - 0.04536249564012895 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.983, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 96, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 20.66, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.531, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 8, - "unit": null - }, - "eff_joints_passed": { - "value": 8, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint7", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "drive_joint", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 37.079002380371094, - "damping": 0.014831600710749626, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -2.059000015258789, - "runtime_upper": 2.0943996906280518, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 55.888057708740234, - "damping": 0.022355223074555397, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 148.72695922851562, - "damping": 0.059490785002708435, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -0.19197998940944672, - "runtime_upper": 3.926999807357788, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 231.05845642089844, - "damping": 0.09242337942123413, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 182.5452117919922, - "damping": 0.07301808148622513, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -1.6929699182510376, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.150972366333008, - "damping": 0.004060389008373022, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link7", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2.070970296859741, - "damping": 0.0008283880888484418, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - }, - "motion_history_eff_joint_008": { - "value": { - "schema_version": 1, - "name": "eff_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "runtime_lower": 0.0, - "runtime_upper": 0.8499999642372131, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.5453881621360779, - "damping": 0.0002181552699767053, - "max_force": 1000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_008.json", - "csv": "motion_history/eff_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "effort_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 41.922, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 8, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9494393704488797, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.579, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 96, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 6.03, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.047, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint7", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "drive_joint", - "broke_directions": [], - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "eff_joints_tested": { - "value": 8, - "unit": null - }, - "eff_joints_passed": { - "value": 8, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_failure_names": { - "value": [], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link1", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link2", - "runtime_lower": -2.059000015258789, - "runtime_upper": 2.0943996906280518, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_002.json", - "csv": "motion_history/eff_joint_002.csv" - }, - "unit": null - }, - "motion_history_eff_joint_003": { - "value": { - "schema_version": 1, - "name": "eff_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link3", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7.816500186920166, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_003.json", - "csv": "motion_history/eff_joint_003.csv" - }, - "unit": null - }, - "motion_history_eff_joint_004": { - "value": { - "schema_version": 1, - "name": "eff_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link4", - "runtime_lower": -0.19197998940944672, - "runtime_upper": 3.926999807357788, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_004.json", - "csv": "motion_history/eff_joint_004.csv" - }, - "unit": null - }, - "motion_history_eff_joint_005": { - "value": { - "schema_version": 1, - "name": "eff_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link5", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.253200054168701, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_005.json", - "csv": "motion_history/eff_joint_005.csv" - }, - "unit": null - }, - "motion_history_eff_joint_006": { - "value": { - "schema_version": 1, - "name": "eff_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link6", - "runtime_lower": -1.6929699182510376, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_006.json", - "csv": "motion_history/eff_joint_006.csv" - }, - "unit": null - }, - "motion_history_eff_joint_007": { - "value": { - "schema_version": 1, - "name": "eff_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/link7", - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_007.json", - "csv": "motion_history/eff_joint_007.csv" - }, - "unit": null - }, - "motion_history_eff_joint_008": { - "value": { - "schema_version": 1, - "name": "eff_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "runtime_lower": 0.0, - "runtime_upper": 0.8499999642372131, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_008.json", - "csv": "motion_history/eff_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "full_range_sweep", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 261.188, - "message": "", - "metrics": { - "frs_completed_nominal_simulation_seconds": { - "value": 51.6125, - "unit": null - }, - "frs_execution_timing": { - "value": { - "completed_nominal_ticks": 12387, - "planned_nominal_ticks_estimate": 12387, - "plan_estimate_status": "estimated", - "planning_omitted_joints": 0, - "active_joint": null, - "active_segment": "encoding", - "stop_reason": "procedure_completed", - "elapsed_wall_seconds": 261.079000000027, - "setup_elapsed_wall_seconds": 1.8290000000270084, - "configured_wall_budget_seconds": 3360.0, - "remaining_wall_budget_seconds": 3098.920999999973, - "observed_service_seconds_per_nominal_tick": 0.02092919996770808, - "estimated_remaining_wall_seconds": 0.0, - "estimated_budget_insufficient": false, - "estimate_basis": "initial required post-settle joint/limit snapshots and speed hints; actual missed endpoints or bounded Newton convergence can change tick totals; phase wall/tick includes all service overhead", - "cost_basis": "elapsed monotonic wall time around existing calls, including waits/rendering; not native solver CPU time; attempted calls counted", - "costs": { - "stepping": { - "wall_seconds": 239.026000001817, - "attempts": 12387 - }, - "captures": { - "wall_seconds": 3.6719999999040738, - "attempts": 93 - }, - "bounds": { - "wall_seconds": 6.351000000839122, - "attempts": 580 - }, - "camera": { - "wall_seconds": 1.047999999835156, - "attempts": 11283 - }, - "optional_motion": { - "wall_seconds": 1.768999999621883, - "attempts": 12248 - }, - "commands": { - "wall_seconds": 3.333999998518266, - "attempts": 12147 - }, - "encoding": { - "wall_seconds": 2.547000000020489, - "attempts": 1 - } - } - }, - "unit": null - }, - "frs_total_dofs": { - "value": 13, - "unit": null - }, - "frs_joints_tested": { - "value": 8, - "unit": null - }, - "frs_passive_joints_skipped": { - "value": 5, - "unit": null - }, - "frs_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "frs_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9502149273510054, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "frs_bbox_baseline_volume": { - "value": 0.04532454721570987, - "unit": null - }, - "frs_segment_timing": { - "value": [ - { - "joint": "joint1", - "segment": "to_max", - "requested_start": 8.909779717214406e-05, - "observed_start": 8.909779717214406e-05, - "ramp_seconds": 1.7541666666666667, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010193058202963956 - }, - { - "joint": "joint1", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.513315200805664, - "ramp_seconds": 3.254166666666667, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00592833802155468 - }, - { - "joint": "joint1", - "segment": "to_zero", - "requested_start": -2.5132741228718345, - "observed_start": -2.513233184814453, - "ramp_seconds": 1.7541666666666667, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010193253530843549 - }, - { - "joint": "joint2", - "segment": "to_max", - "requested_start": 0.0023092010524123907, - "observed_start": 0.0023092010524123907, - "ramp_seconds": 1.2541666666666667, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.013295509826600146 - }, - { - "joint": "joint2", - "segment": "to_min", - "requested_start": 1.6790597200393678, - "observed_start": 1.6800971031188965, - "ramp_seconds": 2.2375, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.008288457463514476 - }, - { - "joint": "joint2", - "segment": "to_zero", - "requested_start": -1.643660044670105, - "observed_start": -1.6451282501220703, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - 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}, - { - "joint": "joint4", - "segment": "to_zero", - "requested_start": 0.21991799026727676, - "observed_start": 0.2194824516773224, - "ramp_seconds": 1.25, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0017519577031643863 - }, - { - "joint": "joint5", - "segment": "to_max", - "requested_start": -5.628709004668053e-06, - "observed_start": -5.628709004668053e-06, - "ramp_seconds": 1.7541666666666667, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.010193442397832694 - }, - { - "joint": "joint5", - "segment": "to_min", - "requested_start": 2.5132741228718345, - "observed_start": 2.5132923126220703, - "ramp_seconds": 3.254166666666667, - "velocity_hint_native_per_second": 3.139999816941817, - 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"unit": null - }, - "_timing_capture_frame_count": { - "value": 93, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 39.14, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.531, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "frs_segment_timing_omitted": { - "value": 0, - "unit": null - }, - "frs_joints_passed": { - "value": 8, - "unit": null - }, - "frs_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_frs_joint_001": { - "value": { - "schema_version": 1, - "name": "frs_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - 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"physics_fps": 240.0, - "runtime_lower": -2.059000015258789, - "runtime_upper": 2.0943996906280518, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.139999816941817, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 55.888057708740234, - "damping": 0.022355223074555397, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 317, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - 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"runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_001.json", - "csv": "motion_history/frs_joint_001.csv" - }, - "unit": null - }, - "motion_history_frs_joint_002": { - "value": { - "schema_version": 1, - "name": "frs_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -2.059000015258789, - "runtime_upper": 2.0943996906280518, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 320, - "json": "motion_history/frs_joint_002.json", - "csv": "motion_history/frs_joint_002.csv" - }, - "unit": null - }, - "motion_history_frs_joint_003": { - "value": { - "schema_version": 1, - "name": "frs_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7.816500186920166, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_003.json", - "csv": "motion_history/frs_joint_003.csv" - }, - "unit": null - }, - "motion_history_frs_joint_004": { - "value": { - "schema_version": 1, - "name": "frs_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -0.19197998940944672, - "runtime_upper": 3.926999807357788, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 383, - "json": "motion_history/frs_joint_004.json", - "csv": "motion_history/frs_joint_004.csv" - }, - "unit": null - }, - "motion_history_frs_joint_005": { - "value": { - "schema_version": 1, - "name": "frs_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.253200054168701, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_005.json", - "csv": "motion_history/frs_joint_005.csv" - }, - "unit": null - }, - "motion_history_frs_joint_006": { - "value": { - "schema_version": 1, - "name": "frs_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -1.6929699182510376, - "runtime_upper": 3.1415927410125732, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 370, - "json": "motion_history/frs_joint_006.json", - "csv": "motion_history/frs_joint_006.csv" - }, - "unit": null - }, - "motion_history_frs_joint_007": { - "value": { - "schema_version": 1, - "name": "frs_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": -6.2831854820251465, - "runtime_upper": 6.2831854820251465, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 3.1399998664855957, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 441, - "json": "motion_history/frs_joint_007.json", - "csv": "motion_history/frs_joint_007.csv" - }, - "unit": null - }, - "motion_history_frs_joint_008": { - "value": { - "schema_version": 1, - "name": "frs_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "current sweep segment destination" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "runtime_lower": 0.0, - "runtime_upper": 0.8499999642372131, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "rest_tolerance": 0.1, - "velocity_hint_native_per_second": 1.9999998807907104, - "velocity_hint_source": "runtime joint velocity ceiling", - "timing_basis": "profile peak * native distance / scaled speed hint, bounded by configured simulation and wall budgets", - "zero_return_tolerance": 0.01, - "tolerance_basis": "existing native joint-position verdict thresholds", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "sweep_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 254, - "json": "motion_history/frs_joint_008.json", - "csv": "motion_history/frs_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "ground_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.328, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.985, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/xarm7/simready_usd/xarm7.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 4.609, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Ufactory/xarm7/simready_usd/xarm7.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "jacobian_ik", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 110.219, - "message": "", - "metrics": { - "jik_loop_joints_locked": { - "value": 0, - "unit": null - }, - "jik_independent_dof_exclusions": { - "value": [ - 8, - 9, - 10, - 11, - 12 - ], - "unit": null - }, - "jik_independent_dof_exclusions_omitted": { - "value": 0, - "unit": null - }, - "jik_joints_without_safe_range": { - "value": [], - "unit": null - }, - "jik_sampled_joint_count": { - "value": 8, - "unit": null - }, - "jik_robot_reach": { - "value": 0.376, - "unit": null - }, - "jik_target_radius": { - "value": 0.3384, - "unit": null - }, - "jik_base_position_x": { - "value": 0.0, - "unit": null - }, - "jik_base_position_y": { - "value": 0.0, - 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"source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_016.json", - "csv": "motion_history/joint_movement_016.csv" - }, - "unit": null - }, - "motion_history_joint_movement_017": { - "value": { - "schema_version": 1, - "name": "joint_movement_017", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_017.json", - "csv": "motion_history/joint_movement_017.csv" - }, - "unit": null - }, - "motion_history_joint_movement_018": { - "value": { - "schema_version": 1, - "name": "joint_movement_018", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_finger_joint", - "authored_joint_name": "right_finger_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_finger", - "parent_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_018.json", - "csv": "motion_history/joint_movement_018.csv" - }, - "unit": null - }, - "motion_history_joint_movement_019": { - "value": { - "schema_version": 1, - "name": "joint_movement_019", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/world", - "reference_frame": "/World/AssetRoot/Asset/world", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_019.json", - "csv": "motion_history/joint_movement_019.csv" - }, - "unit": null - }, - "motion_history_joint_movement_020": { - "value": { - "schema_version": 1, - "name": "joint_movement_020", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_020.json", - "csv": "motion_history/joint_movement_020.csv" - }, - "unit": null - }, - "motion_history_joint_movement_021": { - "value": { - "schema_version": 1, - "name": "joint_movement_021", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_021.json", - "csv": "motion_history/joint_movement_021.csv" - }, - "unit": null - }, - "motion_history_joint_movement_022": { - "value": { - "schema_version": 1, - "name": "joint_movement_022", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_022.json", - "csv": "motion_history/joint_movement_022.csv" - }, - "unit": null - }, - "motion_history_joint_movement_023": { - "value": { - "schema_version": 1, - "name": "joint_movement_023", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_023.json", - "csv": "motion_history/joint_movement_023.csv" - }, - "unit": null - }, - "motion_history_joint_movement_024": { - "value": { - "schema_version": 1, - "name": "joint_movement_024", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_024.json", - "csv": "motion_history/joint_movement_024.csv" - }, - "unit": null - }, - "motion_history_joint_movement_025": { - "value": { - "schema_version": 1, - "name": "joint_movement_025", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint7", - "authored_joint_name": "joint7", - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "child_body_path": "/World/AssetRoot/Asset/link7", - "parent_body_path": "/World/AssetRoot/Asset/link6", - "reference_frame": "/World/AssetRoot/Asset/link6", - "phase": "batched_drive_record", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_025.json", - "csv": "motion_history/joint_movement_025.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 110.25, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 7.782, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 172.93, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.547, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_drive_joint_rot_deg": { - "value": 48.161, - "unit": null - }, - "jm_joint_drive_joint_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_drive_joint_bbox_m": { - "value": 0.0961, - "unit": null - }, - "jm_joint_drive_joint_translation_stage_units": { - "value": 6.331985064158959e-08, - "unit": null - }, - "jm_joint_drive_joint_bbox_diagonal_stage_units": { - "value": 0.09606141354681204, - "unit": null - }, - "jm_joint_drive_joint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_drive_joint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_drive_joint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_drive_joint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_drive_joint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_drive_joint_pct_of_travel": { - "value": 98.9, - "unit": null - 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}, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_finger_joint", - "authored_joint_name": "left_finger_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/left_finger", - "parent_body_path": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/gripper/left_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - 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"unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "left_inner_knuckle_joint", - "authored_joint_name": "left_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/left_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/left_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_inner_knuckle_joint", - "authored_joint_name": "right_inner_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_inner_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_inner_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_outer_knuckle_joint", - "authored_joint_name": "right_outer_knuckle_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_outer_knuckle_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "parent_body_path": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "reference_frame": "/World/AssetRoot/Asset/gripper/xarm_gripper_base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "right_finger_joint", - "authored_joint_name": "right_finger_joint", - "prim_path": "/World/AssetRoot/Asset/gripper/joints/right_finger_joint", - "child_body_path": "/World/AssetRoot/Asset/gripper/right_finger", - "parent_body_path": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "reference_frame": "/World/AssetRoot/Asset/gripper/right_outer_knuckle", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - }, - "motion_history_joint_movement_006": { - "value": { - "schema_version": 1, - "name": "joint_movement_006", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/world", - "reference_frame": "/World/AssetRoot/Asset/world", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_006.json", - "csv": "motion_history/joint_movement_006.csv" - }, - "unit": null - }, - "motion_history_joint_movement_007": { - "value": { - "schema_version": 1, - "name": "joint_movement_007", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - "reference_frame": "/World/AssetRoot/Asset/link1", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_007.json", - "csv": "motion_history/joint_movement_007.csv" - }, - "unit": null - }, - "motion_history_joint_movement_008": { - "value": { - "schema_version": 1, - "name": "joint_movement_008", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "child_body_path": "/World/AssetRoot/Asset/link3", - "parent_body_path": "/World/AssetRoot/Asset/link2", - "reference_frame": "/World/AssetRoot/Asset/link2", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_008.json", - "csv": "motion_history/joint_movement_008.csv" - }, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "child_body_path": "/World/AssetRoot/Asset/link4", - "parent_body_path": "/World/AssetRoot/Asset/link3", - "reference_frame": "/World/AssetRoot/Asset/link3", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_009.json", - "csv": "motion_history/joint_movement_009.csv" - }, - "unit": null - }, - "motion_history_joint_movement_010": { - "value": { - "schema_version": 1, - "name": "joint_movement_010", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "child_body_path": "/World/AssetRoot/Asset/link5", - "parent_body_path": "/World/AssetRoot/Asset/link4", - "reference_frame": "/World/AssetRoot/Asset/link4", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - }, - "motion_history_joint_movement_011": { - "value": { - "schema_version": 1, - "name": "joint_movement_011", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "child_body_path": "/World/AssetRoot/Asset/link6", - "parent_body_path": "/World/AssetRoot/Asset/link5", - "reference_frame": "/World/AssetRoot/Asset/link5", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_011.json", - "csv": "motion_history/joint_movement_011.csv" - }, - "unit": null - }, - "motion_history_joint_movement_012": { - "value": { - "schema_version": 1, - "name": "joint_movement_012", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint7", - "authored_joint_name": "joint7", - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "child_body_path": "/World/AssetRoot/Asset/link7", - "parent_body_path": "/World/AssetRoot/Asset/link6", - "reference_frame": "/World/AssetRoot/Asset/link6", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_012.json", - "csv": "motion_history/joint_movement_012.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 10.406, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.813, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 127.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.578, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 1.0, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 29, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.862058, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.063051, - "unit": null - 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"max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7.816500186920166, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_003.json", - "csv": "motion_history/mjc_joint_003.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_004": { - "value": { - "schema_version": 1, - "name": "mjc_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.253200054168701, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_004.json", - "csv": "motion_history/mjc_joint_004.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_005": { - "value": { - "schema_version": 1, - "name": "mjc_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_006": { - "value": { - "schema_version": 1, - "name": "mjc_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_006.json", - "csv": "motion_history/mjc_joint_006.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_007": { - "value": { - "schema_version": 1, - "name": "mjc_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 352, - "json": "motion_history/mjc_joint_007.json", - "csv": "motion_history/mjc_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.188, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.078, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 134.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.656, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000187, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000544, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 5.188, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.078, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 134.75, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.656, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 0.000187, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000544, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 25.687, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.609, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 521.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 52, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 51235, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 25.687, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.609, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 521.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 4, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 52, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 51235, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 14.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.622, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 181.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.453, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 6.4, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 14.187, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.622, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 181.1, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.453, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 6.4, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 3.235, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.406, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 203.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.223659, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 3.235, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.406, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 203.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.223659, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.547, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 52, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 50994, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 22.547, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 4, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 4, - "unit": null - }, - "universal_surface_materials_total": { - "value": 4, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 52, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 50994, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.281, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.453, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 43.531, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 8, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9502149273510054, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.438, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 80, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 17.98, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.157, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 8, - "unit": null - }, - "sta_joints_passed": { - "value": 8, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.16776098143353174, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - "schema_version": 1, - "name": "sta_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 37.079002380371094, - "damping": 0.014831600710749626, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 64, - "json": "motion_history/sta_joint_001.json", - "csv": "motion_history/sta_joint_001.csv" - }, - "unit": null - }, - "motion_history_sta_joint_002": { - "value": { - "schema_version": 1, - "name": "sta_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 55.888057708740234, - "damping": 0.022355223074555397, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_002.json", - "csv": "motion_history/sta_joint_002.csv" - }, - "unit": null - }, - "motion_history_sta_joint_003": { - "value": { - "schema_version": 1, - "name": "sta_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 148.72695922851562, - "damping": 0.059490785002708435, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_003.json", - "csv": "motion_history/sta_joint_003.csv" - }, - "unit": null - }, - "motion_history_sta_joint_004": { - "value": { - "schema_version": 1, - "name": "sta_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 231.05845642089844, - "damping": 0.09242337942123413, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_004.json", - "csv": "motion_history/sta_joint_004.csv" - }, - "unit": null - }, - "motion_history_sta_joint_005": { - "value": { - "schema_version": 1, - "name": "sta_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 182.5452117919922, - "damping": 0.07301808148622513, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 59, - "json": "motion_history/sta_joint_005.json", - "csv": "motion_history/sta_joint_005.csv" - }, - "unit": null - }, - "motion_history_sta_joint_006": { - "value": { - "schema_version": 1, - "name": "sta_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.150972366333008, - "damping": 0.004060389008373022, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2.070970296859741, - "damping": 0.0008283880888484418, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - }, - "motion_history_sta_joint_008": { - "value": { - "schema_version": 1, - "name": "sta_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.5453881621360779, - "damping": 0.0002181552699767053, - "max_force": 1000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 60, - "json": "motion_history/sta_joint_008.json", - "csv": "motion_history/sta_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 176.141, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 8, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9494393704488797, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.374, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 80, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 17.17, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.469, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "sta_joints_tested": { - "value": 8, - "unit": null - }, - "sta_joints_passed": { - "value": 8, - "unit": null - }, - "sta_joints_failed": { - "value": 0, - "unit": null - }, - "sta_max_position_error_deg": { - "value": 0.2833217536121474, - "unit": null - }, - "motion_history_sta_joint_001": { - "value": { - 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"unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 175, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - 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}, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.150972366333008, - "damping": 0.004060389008373022, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 2.070970296859741, - "damping": 0.0008283880888484418, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 24, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - }, - "motion_history_vel_joint_008": { - "value": { - "schema_version": 1, - "name": "vel_joint_008", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.5453881621360779, - "damping": 0.0002181552699767053, - "max_force": 1000.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 10, - "json": "motion_history/vel_joint_008.json", - "csv": "motion_history/vel_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 15.782, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 5, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "vel_joints_with_limits": { - "value": 8, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.9494393704488797, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 27, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 22.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.235, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 8, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 10.421899795532227, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 45.0, - "damping": 0.0, - "max_force": 50.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 56, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 7.816500186920166, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 60.0, - "damping": 0.0, - "max_force": 100.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 87, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 6.253200054168701, - "damping": 0.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 88, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - }, - "motion_history_vel_joint_007": { - "value": { - "schema_version": 1, - "name": "vel_joint_007", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint7", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/joints/joint7", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 4.168799877166748, - "damping": 0.0, - "max_force": 20.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_007.json", - "csv": "motion_history/vel_joint_007.csv" - }, - "unit": null - }, - "motion_history_vel_joint_008": { - "value": { - "schema_version": 1, - "name": "vel_joint_008", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "drive_joint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/gripper/joints/drive_joint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.2725000381469727, - "damping": 0.0, - "max_force": 10.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 78, - "json": "motion_history/vel_joint_008.json", - "csv": "motion_history/vel_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/ufactory_xarm7/.metadata/xarm7_validation.json b/ufactory_xarm7/.metadata/xarm7_validation.json deleted file mode 100644 index 6ecb7e29ecd14bd6eaf4ee72fd7b74172af0fe0c..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/.metadata/xarm7_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - 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}, - "package_hash": { - "sha256": "507aa338d4ab44503bb081d82c9800afe67ed4d6c48bc9816caca8ab5f7b6cc2" - } -} diff --git a/ufactory_xarm7/materials/mdl/OmniPBR.mdl b/ufactory_xarm7/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_xarm7/materials/mdl/OmniPBRBase.mdl b/ufactory_xarm7/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/ufactory_xarm7/materials/mdl/OmniPBR_ClearCoat.mdl b/ufactory_xarm7/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/ufactory_xarm7/materials/mdl/aux_definitions.mdl b/ufactory_xarm7/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/ufactory_xarm7/materials/mdl/core_definitions.mdl b/ufactory_xarm7/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/ufactory_xarm7/materials/mdl/license.txt b/ufactory_xarm7/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/ufactory_xarm7/materials/mdl/support_definitions.mdl b/ufactory_xarm7/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/ufactory_xarm7/payloads/Physics/mujoco.usda b/ufactory_xarm7/payloads/Physics/mujoco.usda deleted file mode 100644 index 8dae8722d55f614899585c4bcdbda05e2c5241c3..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,447 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "left_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "left_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_inner_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_outer_knuckle_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "right_finger_joint" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "xarm_gripper_base_link" - { - over "link_tcp" - { - } - - over "visuals" - { - over "base_link" - { - } - } - - over "collisions" - { - over "base_link" - { - over "mesh" ( - ) - { - } - } - } - } - - over "left_outer_knuckle" - { - over "visuals" - { - over "left_outer_knuckle" - { - } - } - - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - ) - { - } - } - } - } - - over "left_finger" - { - over "visuals" - { - over "left_finger" - { - } - } - - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - ) - { - } - } - } - } - - over "left_inner_knuckle" - { - over "visuals" - { - over "left_inner_knuckle" - { - } - } - - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - ) - { - } - } - } - } - - over "right_inner_knuckle" - { - over "visuals" - { - over "right_inner_knuckle" - { - } - } - - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - ) - { - } - } - } - } - - over "right_outer_knuckle" - { - over "visuals" - { - over "right_outer_knuckle" - { - } - } - - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - ) - { - } - } - } - } - - over "right_finger" - { - over "visuals" - { - over "right_finger" - { - } - } - - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - } - } - - over "joints" - { - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "joint7" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - } - - over "world" - { - over "link_base" - { - } - - over "visuals" - { - over "link_base" - { - } - } - - over "collisions" - { - over "link_base" - { - over "mesh_14" ( - ) - { - } - } - } - } - - over "link1" - { - over "visuals" - { - over "link1" - { - } - } - - over "collisions" - { - over "link1" - { - over "mesh_16" ( - ) - { - } - } - } - } - - over "link2" - { - over "visuals" - { - over "link2" - { - } - } - - over "collisions" - { - over "link2" - { - over "mesh_18" ( - ) - { - } - } - } - } - - over "link3" - { - over "visuals" - { - over "link3" - { - } - } - - over "collisions" - { - over "link3" - { - over "mesh_20" ( - ) - { - } - } - } - } - - over "link4" - { - over "visuals" - { - over "link4" - { - } - } - - over "collisions" - { - over "link4" - { - over "mesh_22" ( - ) - { - } - } - } - } - - over "link5" - { - over "visuals" - { - over "link5" - { - } - } - - over "collisions" - { - over "link5" - { - over "mesh_24" ( - ) - { - } - } - } - } - - over "link6" - { - over "visuals" - { - over "link6" - { - } - } - - over "collisions" - { - over "link6" - { - over "mesh_26" ( - ) - { - } - } - } - } - - over "link7" - { - over "link_eef" - { - } - - over "visuals" - { - over "link7" - { - } - } - - over "collisions" - { - over "end_tool" - { - over "mesh_28" ( - ) - { - } - } - } - } - - over "root_joint" - { - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - diff --git a/ufactory_xarm7/payloads/Physics/none.usda b/ufactory_xarm7/payloads/Physics/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Physics/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm7/payloads/Physics/physics.usda b/ufactory_xarm7/payloads/Physics/physics.usda deleted file mode 100644 index 6540b7c6bfc7c8942b9528f82aba0c245ac6cb95..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Physics/physics.usda +++ /dev/null @@ -1,696 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - def PhysicsRevoluteJoint "drive_joint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.00021815527 - float drive:angular:physics:maxForce = 1000 - float drive:angular:physics:stiffness = 0.54538816 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0008726211 - point3f physics:localPos0 = (0, 0.035, 0.059098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = 0 - float physics:upperLimit = 48.701412 - } - - def PhysicsRevoluteJoint "left_finger_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00037557803 - point3f physics:localPos0 = (0, 0.035465, 0.042039) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "left_inner_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00030888498 - point3f physics:localPos0 = (0, 0.02, 0.074098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_inner_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0003042112 - point3f physics:localPos0 = (0, -0.02, 0.074098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_outer_knuckle_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00081987266 - point3f physics:localPos0 = (0, -0.035, 0.059098) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0, 0, 0, 1) - quatf physics:localRot1 = (0, 0, 0, 1) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - - def PhysicsRevoluteJoint "right_finger_joint" ( - ) - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.00037432538 - point3f physics:localPos0 = (0, -0.035465, 0.042039) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -9.740283 - float physics:upperLimit = 58.441696 - } - } - - over "xarm_gripper_base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00065489, -0.0018497001, 0.048028) - float3 physics:diagonalInertia = (0.0004710948, 0.00033230297, 0.0002548022) - float physics:mass = 0.54156 - quatf physics:principalAxes = (0.99740654, 0.07167488, 0.006125353, -0.0023352539) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (2.9948e-14, 0.021559, 0.015181) - float3 physics:diagonalInertia = (0.000019111, 0.0000019016687, 0.000017908931) - float physics:mass = 0.033618 - quatf physics:principalAxes = (0.95905584, -0.28321707, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-2.4536e-14, -0.016413, 0.029258) - float3 physics:diagonalInertia = (0.000017493, 0.000018803687, 0.0000035679147) - float physics:mass = 0.048304 - quatf physics:principalAxes = (0.98660403, -0.16313326, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0000018660079, 0.022046784, 0.026133467) - float3 physics:diagonalInertia = (0.0000060949, 0.000008342161, 0.0000027560097) - float physics:mass = 0.023012578 - quatf physics:principalAxes = (0.9392398, 0.34326172, -0.000004853818, 0.000020194318) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.000001866, -0.022047, 0.026133) - float3 physics:diagonalInertia = (0.0000060949, 0.00000834209, 0.0000027560104) - float physics:mass = 0.023013 - quatf physics:principalAxes = (0.93924576, -0.34324545, -0.0000048531947, -0.000020195002) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-3.1669e-14, -0.021559, 0.015181) - float3 physics:diagonalInertia = (0.000019111, 0.0000019016687, 0.000017908931) - float physics:mass = 0.033618 - quatf physics:principalAxes = (0.95905584, 0.28321707, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "right_finger" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (2.5618e-14, 0.016413, 0.029258) - float3 physics:diagonalInertia = (0.000017493, 0.000018803807, 0.0000035677933) - float physics:mass = 0.048304 - quatf physics:principalAxes = (0.98660326, 0.16313848, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" - { - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-2.9802322e-8, 0.0000033365484, -2.9826584e-8) - quatf physics:localRot0 = (1, -0.0000036358833, 0, 0) - } - } - - over "joints" - { - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.014831601 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 37.079002 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.059326403 - point3f physics:localPos0 = (0, 0, 0.267) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.022355223 - float drive:angular:physics:maxForce = 50 - float drive:angular:physics:stiffness = 55.888058 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.08942089 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -117.97201 - float physics:upperLimit = 120.00027 - } - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.059490785 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 148.72696 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.23796314 - point3f physics:localPos0 = (0, -0.293, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.09242338 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 231.05846 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.36969352 - point3f physics:localPos0 = (0.0525, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -10.999643 - float physics:upperLimit = 225.00052 - } - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.07301808 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 182.54521 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.29207233 - point3f physics:localPos0 = (0.0775, -0.3425, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.004060389 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 10.150972 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.016241556 - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -97.00003 - float physics:upperLimit = 180 - } - - def PhysicsRevoluteJoint "joint7" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0.0008283881 - float drive:angular:physics:maxForce = 20 - float drive:angular:physics:stiffness = 2.0709703 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - float physics:JointEquivalentInertia = 0.0033135524 - point3f physics:localPos0 = (0.076, 0.097, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -360 - float physics:upperLimit = 360 - } - } - - over "world" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.021131, -0.0016302, 0.056487996) - float3 physics:diagonalInertia = (0.0033528246, 0.0038202282, 0.0016772469) - float physics:mass = 0.88556 - quatf physics:principalAxes = (0.973841, 0.069211826, 0.2161202, -0.011643797) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link_base" - { - over "mesh_14" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.0002, 0.02905, -0.01233) - float3 physics:diagonalInertia = (0.0056912666, 0.005333836, 0.0029386505) - float physics:mass = 2.382 - quatf physics:principalAxes = (0.97895294, -0.20276871, -0.004416274, -0.022726912) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link1" - { - over "mesh_16" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.00022, -0.12856, 0.01735) - float3 physics:diagonalInertia = (0.009598977, 0.0020131455, 0.009377167) - float physics:mass = 1.869 - quatf physics:principalAxes = (0.96648127, 0.2565738, -0.008924625, -0.0020899116) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link2" - { - over "mesh_18" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0466, -0.02463, -0.00768) - float3 physics:diagonalInertia = (0.0035172144, 0.0029408862, 0.00195868) - float physics:mass = 1.6383 - quatf physics:principalAxes = (0.9138187, 0.28977504, 0.2814806, -0.041645568) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link3" - { - over "mesh_20" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.07047, -0.11575, 0.012) - float3 physics:diagonalInertia = (0.0065713683, 0.0018676266, 0.0064794747) - float physics:mass = 1.7269 - quatf physics:principalAxes = (0.90094894, 0.30399808, -0.28910586, 0.110878825) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link4" - { - over "mesh_22" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link5" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00032, 0.01604, -0.026) - float3 physics:diagonalInertia = (0.005347292, 0.0049907565, 0.0013489022) - float physics:mass = 1.3203 - quatf physics:principalAxes = (0.99931127, -0.030445736, 0.00057706673, 0.021208148) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link5" - { - over "mesh_24" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link6" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.06469, 0.03278, 0.02141) - float3 physics:diagonalInertia = (0.0010727287, 0.0022164627, 0.0024542091) - float physics:mass = 1.325 - quatf physics:principalAxes = (0.95211107, 0.03895554, 0.14025421, 0.26887864) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "link6" - { - over "mesh_26" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - over "link7" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0, -0.00677, -0.01098) - float3 physics:diagonalInertia = (0.000093, 0.000058523616, 0.00013217637) - float physics:mass = 0.17 - quatf physics:principalAxes = (0.9997004, 0.024475647, 0, 0) - rel physics:simulationOwner - - over "collisions" ( - ) - { - rel physics:simulationOwner - - over "end_tool" - { - over "mesh_28" ( - prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def PhysicsFixedJoint "root_joint" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] - ) - { - rel physics:body1 = - } -} diff --git a/ufactory_xarm7/payloads/Physics/physx.usda b/ufactory_xarm7/payloads/Physics/physx.usda deleted file mode 100644 index 84544177bba5f0f6db2f1b597e75195d0e398452..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Physics/physx.usda +++ /dev/null @@ -1,433 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -def "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:maxJointVelocity = 114.59155 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"] - ) - { - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - } - } - - over "xarm_gripper_base_link" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "right_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:articulationEnabled = 0 - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - - over "joint7" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.90874 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_14" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_16" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_18" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_20" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_22" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_24" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_26" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "link7" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "end_tool" - { - over "mesh_28" ( - prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"] - ) - { - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } -} - diff --git a/ufactory_xarm7/payloads/Sensor/none.usda b/ufactory_xarm7/payloads/Sensor/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Sensor/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm7/payloads/Sensor/sensors.usda b/ufactory_xarm7/payloads/Sensor/sensors.usda deleted file mode 100644 index bec5a0cb02e1d3d0710abfcb18049342e3c573be..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Sensor/sensors.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper.usd b/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper.usd deleted file mode 100644 index 933669a241cde9df955f2963050de2b1bb6a96ad..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper.usd and /dev/null differ diff --git a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_base.usd b/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_base.usd deleted file mode 100644 index c28f99c5cec74704bb9919fa6eb95664e62dacff..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1f356bf48592b1fd465d130b588b69d70a5dc5d7c1b7029807ecd9121d243eed -size 5877373 diff --git a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd b/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd deleted file mode 100644 index 99d2b234fd313aa3930b608b139e13a0aa6a07ae..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_physics.usd and /dev/null differ diff --git a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd b/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd deleted file mode 100644 index 7bfb6ce8374e2b1f6b45f3bc70175cb6898af8a0..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_robot_schema.usd and /dev/null differ diff --git a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd b/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd deleted file mode 100644 index 03b5d0ef4d25265a2b5ad0e84760b55a1699cfe8..0000000000000000000000000000000000000000 Binary files a/ufactory_xarm7/payloads/Variant_Set/dependencies/xarm_gripper_sensor.usd and /dev/null differ diff --git a/ufactory_xarm7/payloads/Variant_Set/none.usda b/ufactory_xarm7/payloads/Variant_Set/none.usda deleted file mode 100644 index 96ce306e88511e6f849a6b332ce4d4b2384d1b77..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Variant_Set/none.usda +++ /dev/null @@ -1,15 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" -{ -} - diff --git a/ufactory_xarm7/payloads/Variant_Set/xarm_gripper.usda b/ufactory_xarm7/payloads/Variant_Set/xarm_gripper.usda deleted file mode 100644 index 0654c56553c8ab4ccef97d97c12c53fcf4872287..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/Variant_Set/xarm_gripper.usda +++ /dev/null @@ -1,29 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper/root_joint", "gripper"] - } -) -{ - over "gripper" ( - prepend payload = @./dependencies/xarm_gripper.usd@ - ) - { - over "root_joint" - { - custom rel physics:body0 - prepend rel physics:body0 = - } - } -} - diff --git a/ufactory_xarm7/payloads/base.usda b/ufactory_xarm7/payloads/base.usda deleted file mode 100644 index 1108c953cced81fc9478cd36e188668b0f122ba0..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/base.usda +++ /dev/null @@ -1,749 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - customData = { - string[] variantPrimPaths = ["gripper/root_joint", "gripper"] - } -) -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "gripper" - { - quatd xformOp:orient = (6.123233995736766e-17, -1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.206, 0, 0.1205) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - } - - def Scope "joints" - { - } - - def Xform "xarm_gripper_base_link" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_tcp" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.1720000058412552) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "base_link" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "base_link" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_outer_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.03500000014901161, 0.059098001569509506) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_finger" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.07046499848365784, 0.10113699734210968) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_4" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "left_inner_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.019999999552965164, 0.07409799844026566) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "left_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "left_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_6" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_inner_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.019999999552965164, 0.07409799844026566) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_inner_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_8" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_outer_knuckle" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.03500000014901161, 0.059098001569509506) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_outer_knuckle" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_10" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "right_finger" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, -0.07046499848365784, 0.10113699734210968) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "right_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "right_finger" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_12" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - } - - def Scope "Looks" - { - } - - def Scope "joints" - { - } - - def Xform "world" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_base" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link_base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link_base" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_14" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link1" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2669999897480011) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link1" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_16" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link2" - { - quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.2669999897480011) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link2" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_18" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link3" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0.0000010478496506038937, 0.5600000023841858) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link3" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_20" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link4" - { - quatd xformOp:orient = (0.7071055173873901, 0.7071080803871155, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.05249999836087227, 0.0000010478496506038937, 0.5600000023841858) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link4" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_22" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link5" - { - quatd xformOp:orient = (-0.000003635883331298828, 1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.1300000101327896, 0.0000022727249415765982, 0.2174999713897705) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link5" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_24" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link6" - { - quatd xformOp:orient = (-0.7071106433868408, 0.7071029543876648, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.1300000101327896, 0.0000022727249415765982, 0.2174999713897705) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link6" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "link6" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_26" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Xform "link7" - { - quatd xformOp:orient = (-0.000003635883331298828, 1, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.20600003004074097, 0.0000033365486160619184, 0.12049996852874756) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link_eef" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "link7" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - token visibility = "inherited" - quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "collisions" ( - instanceable = false - ) - { - def Xform "end_tool" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - uniform token purpose = "guide" - token visibility = "inherited" - - over "mesh_28" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/ufactory_xarm7/payloads/geometries.usd b/ufactory_xarm7/payloads/geometries.usd deleted file mode 100644 index b651ca7f7a0f80f7be52ed09d51cf998c6c9274d..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:2c98ef6e05ee1693659f5de512abb9f9efd3140e3600d7d8cfe3a46259215093 -size 12193746 diff --git a/ufactory_xarm7/payloads/instances.usda b/ufactory_xarm7/payloads/instances.usda deleted file mode 100644 index be6081c2092792bfd993994b070065cb6d1d1213..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/instances.usda +++ /dev/null @@ -1,1518 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "mesh" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_2" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_3" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_4" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_5" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_6" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_7" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_7" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_8" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_8" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_9" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_9" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_10" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_11" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_11" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "j____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_12" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_12" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "DefaultMaterial" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_13" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_13" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_14" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_15" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_15" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_16" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_16" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_17" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_17" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_18" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_18" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_19" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_19" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_20" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_20" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_21" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_21" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_22" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_22" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_23" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_23" - { - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_24" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_24" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_25" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_25" - { - over "subset____________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset_______________" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "subset____________0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_26" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_26" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_27" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_27" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "material_______________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_28" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - uniform token purpose = "guide" - } - - def Scope "VisualMaterials" - { - def Material "material____________" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } -} - diff --git a/ufactory_xarm7/payloads/materials.usda b/ufactory_xarm7/payloads/materials.usda deleted file mode 100644 index a75256b4174967317b31cce9b6464069ae76a308..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/materials.usda +++ /dev/null @@ -1,881 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "DefaultMaterial" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "DefaultMaterial" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "j____________" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "j____________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Black" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Red" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0, 0) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_Silver" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.753, 0.753, 0.753) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.753, 0.753, 0.753) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_White" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_______________" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "material_______________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5, 0.5, 0.5) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material____________" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "material____________" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Albedo" - ) - color3f inputs:emissive_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - dictionary range = { - float3 max = (1, 1, 1) - float3 min = (0, 0, 0) - } - } - displayGroup = "Emissive" - ) - float inputs:emissive_intensity = 10000 ( - customData = { - double default = 10000 - dictionary range = { - double max = 100000 - double min = 0 - } - } - displayGroup = "Emissive" - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - ) - bool inputs:enable_opacity = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - bool inputs:enable_opacity_texture = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Opacity" - ) - float inputs:opacity_constant = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - int inputs:opacity_mode = 1 ( - customData = { - int default = 1 - dictionary range = { - int max = 3 - int min = 0 - } - } - displayGroup = "Opacity" - renderType = "::base::mono_mode" - sdrMetadata = { - string __SDR__enum_value = "mono_average" - string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3" - } - ) - float inputs:opacity_threshold = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Opacity" - ) - float inputs:texture_rotate = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 360 - double min = 0 - } - } - displayGroup = "UV" - ) - float2 inputs:texture_scale = (1, 1) ( - customData = { - float2 default = (1, 1) - } - displayGroup = "UV" - ) - float2 inputs:texture_translate = (0, 0) ( - customData = { - float2 default = (0, 0) - } - displayGroup = "UV" - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/ufactory_xarm7/payloads/robot.usda b/ufactory_xarm7/payloads/robot.usda deleted file mode 100644 index d01c386f04f0b4d58774e7d7cc45cbac549b2a6c..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/payloads/robot.usda +++ /dev/null @@ -1,429 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:description - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "gripper" ( - prepend apiSchemas = ["IsaacRobotAPI"] - ) - { - string isaac:description - string isaac:namespace - rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - ] - rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - ] - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_finger_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride ( - displayName = "Name Override" - doc = "Name override for prim lookup in base name search" - ) - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "right_finger_joint" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "xarm_gripper_base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "left_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_inner_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_outer_knuckle" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "right_finger" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint5" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint6" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "joint7" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "world" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_base" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link5" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link6" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - } - - over "link7" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - string isaac:nameOverride - - over "link_eef" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } -} diff --git a/ufactory_xarm7/runnables/physics/mujoco.usda b/ufactory_xarm7/runnables/physics/mujoco.usda deleted file mode 100644 index 42cdec61ab222a3616c6d08fa88e34f667764853..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/runnables/physics/mujoco.usda +++ /dev/null @@ -1,488 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -def "UF_ROBOT" -{ - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "left_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"] - ) - { - uniform double[] mjc:solimp = [0.95, 0.99, 0.001, 0.5, 2] - uniform double[] mjc:solref = [0.005, 1] - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - } - - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_14" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_16" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_18" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_20" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_22" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_24" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_26" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link7" - { - over "collisions" - { - over "end_tool" - { - over "mesh_28" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_UF_ROBOT_gripper_joints_drive_joint" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -31.24843988679391, -0.012499376248202255] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 1000 - double mjc:forceRange:min = -1000 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -2124.470344950797, -0.8497881241491857] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -3202.1498318944014, -1.2808599322454963] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 50 - double mjc:forceRange:min = -50 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -8521.427063608215, -3.4085709005753673] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -13238.674373724938, -5.2954695691729805] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -10459.0702060029, -4.183627897303033] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -581.6078745448075, -0.23264315336108365] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_UF_ROBOT_joints_joint7" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -118.65785750701838, -0.047463141289923974] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 20 - double mjc:forceRange:min = -20 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - - over "joint7" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } -} - diff --git a/ufactory_xarm7/runnables/physics/newton.usda b/ufactory_xarm7/runnables/physics/newton.usda deleted file mode 100644 index d75da50ef12143aaf0c70b7583db050b41d4257e..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/runnables/physics/newton.usda +++ /dev/null @@ -1,396 +0,0 @@ -#usda 1.0 -( - defaultPrim = "UF_ROBOT" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - over "base_link" - { - over "mesh" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" - { - over "mesh_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" - { - over "mesh_4" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" - { - over "mesh_6" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" - { - over "mesh_8" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" - { - over "mesh_10" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" - { - over "mesh_12" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 10 - float drive:angular:physics:stiffness = 3.2725 - float newton:damping = 0.109083 - float newton:velocityLimit = 114.59155 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - - over "right_finger_joint" ( - prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"] - ) - { - float newton:mimicCoef0 = -0 - float newton:mimicCoef1 = 1 - bool newton:mimicEnabled = 1 - rel newton:mimicJoint = - } - } - } - - over "world" - { - over "collisions" - { - over "link_base" - { - over "mesh_14" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" - { - over "mesh_16" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" - { - over "mesh_18" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" - { - over "mesh_20" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" - { - over "mesh_22" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" - { - over "mesh_24" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" - { - over "mesh_26" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link7" - { - over "collisions" - { - over "end_tool" - { - over "mesh_28" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] - ) - { - bool newton:selfCollisionEnabled = 0 - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 10.4219 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 45 - float newton:damping = 0.347398 - float newton:velocityLimit = 179.90874 - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 7.8165 - float newton:damping = 0.260549 - float newton:velocityLimit = 179.90874 - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 100 - float drive:angular:physics:stiffness = 60 - float newton:damping = 0.625873 - float newton:velocityLimit = 179.90874 - } - - over "joint5" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 6.2532 - float newton:damping = 0.208439 - float newton:velocityLimit = 179.90874 - } - - over "joint6" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4.1688 - float newton:damping = 0.138959 - float newton:velocityLimit = 179.90874 - } - - over "joint7" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 4.1688 - float newton:damping = 0.138959 - float newton:velocityLimit = 179.90874 - } - } -} - diff --git a/ufactory_xarm7/runnables/physics/physx.usda b/ufactory_xarm7/runnables/physics/physx.usda deleted file mode 100644 index b14b7f6bf98d19ef827e541852ec60eaf458d8e9..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/runnables/physics/physx.usda +++ /dev/null @@ -1,462 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -over "UF_ROBOT" -{ - over "gripper" - { - over "joints" - { - over "drive_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 114.59155 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "left_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_inner_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_outer_knuckle_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "right_finger_joint" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxMimicJoint:rotX:dampingRatio = 0.005 - float physxMimicJoint:rotX:gearing = -1 - float physxMimicJoint:rotX:naturalFrequency = 2500 - float physxMimicJoint:rotX:offset = 0 - rel physxMimicJoint:rotX:referenceJoint = - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "xarm_gripper_base_link" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "base_link" - { - over "mesh" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_outer_knuckle" - { - over "mesh_2" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_finger" - { - over "mesh_4" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "left_inner_knuckle" - { - over "mesh_6" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_inner_knuckle" - { - over "mesh_8" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_outer_knuckle" - { - over "mesh_10" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "right_finger" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "right_finger" - { - over "mesh_12" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:articulationEnabled = 0 - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } - } - - over "joints" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - - over "joint7" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0.0 - float physxJoint:maxJointVelocity = 179.90874 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "world" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link_base" - { - over "mesh_14" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link1" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link1" - { - over "mesh_16" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link2" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link2" - { - over "mesh_18" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link3" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link3" - { - over "mesh_20" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link4" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link4" - { - over "mesh_22" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link5" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link5" - { - over "mesh_24" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link6" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "link6" - { - over "mesh_26" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "link7" - { - over "collisions" ( - ) - { - rel collection:collisionmeshes:includes = - - over "end_tool" - { - over "mesh_28" ( - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - } -} - diff --git a/ufactory_xarm7/xarm7.usda b/ufactory_xarm7/xarm7.usda deleted file mode 100644 index 5fbc97842c2e7dbbdd6a4deab8410df51d0450f9..0000000000000000000000000000000000000000 --- a/ufactory_xarm7/xarm7.usda +++ /dev/null @@ -1,1534 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/UF_ROBOT" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.30790877, 0.22742647, 0.64614147) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "xarm7" - string asset_type = "robot" - string author = "Ufactory" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 12.06848942860961 - string qcode = "Q40687" - int rigid_body_count = 15 - string source_file = "Ufactory/xarm7/xarm7.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "UF_ROBOT" - endTimeCode = 0 - metersPerUnit = 1 - startTimeCode = -1 - upAxis = "Z" -) - -def Xform "UF_ROBOT" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - string Sensor = "none" - string Variant_Set = "none" - } - variantSets = ["Variant_Set", "Sensor", "PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "gripper" - { - over "xarm_gripper_base_link" - { - over "collisions" - { - token visibility = "invisible" - - over "base_link" ( - instanceable = false - ) - { - over "mesh" - { - } - } - } - } - - over "left_outer_knuckle" - { - over "collisions" - { - over "left_outer_knuckle" ( - instanceable = false - ) - { - over "mesh_2" - { - token visibility = "invisible" - } - } - } - } - - over "left_finger" - { - over "collisions" - { - over "left_finger" ( - instanceable = false - ) - { - over "mesh_4" - { - token visibility = "invisible" - } - } - } - } - - over "left_inner_knuckle" - { - over "collisions" - { - over "left_inner_knuckle" ( - instanceable = false - ) - { - over "mesh_6" - { - token visibility = "invisible" - } - } - } - } - - over "right_inner_knuckle" - { - over "collisions" - { - over "right_inner_knuckle" ( - instanceable = false - ) - { - over "mesh_8" - { - token visibility = "invisible" - } - } - } - } - - over "right_outer_knuckle" - { - over "collisions" - { - over "right_outer_knuckle" ( - instanceable = false - ) - { - over "mesh_10" - { - token visibility = "invisible" - } - } - } - } - - over "right_finger" - { - over "collisions" - { - over "right_finger" ( - instanceable = false - ) - { - over "mesh_12" - { - token visibility = "invisible" - } - } - } - } - } - - over "world" - { - over "collisions" - { - over "link_base" ( - instanceable = false - ) - { - over "mesh_14" - { - token visibility = "invisible" - } - } - } - } - - over "link1" - { - over "collisions" - { - over "link1" ( - instanceable = false - ) - { - over "mesh_16" - { - token visibility = "invisible" - } - } - } - } - - over "link2" - { - over "collisions" - { - over "link2" ( - instanceable = false - ) - { - over "mesh_18" - { - token visibility = "invisible" - } - } - } - } - - over "link3" - { - over "collisions" - { - over "link3" ( - instanceable = false - ) - { - over "mesh_20" - { - token visibility = "invisible" - } - } - } - } - - over "link4" - { - over "collisions" - { - over "link4" ( - instanceable = false - ) - { - over "mesh_22" - { - token visibility = "invisible" - } - } - } - } - - over "link5" - { - over "collisions" - { - over "link5" ( - instanceable = false - ) - { - over "mesh_24" - { - token visibility = "invisible" - } - } - } - } - - over "link6" - { - over "collisions" - { - over "link6" ( - instanceable = false - ) - { - over "mesh_26" - { - token visibility = "invisible" - } - } - } - } - - over "link7" - { - over "collisions" - { - over "end_tool" ( - instanceable = false - ) - { - over "mesh_28" - { - token visibility = "invisible" - } - } - } - } - variantSet "Variant_Set" = { - "none" ( - prepend payload = @./payloads/Variant_Set/none.usda@ - ) { - - } - "xarm_gripper" ( - prepend payload = @./payloads/Variant_Set/xarm_gripper.usda@ - ) { - - } - } - variantSet "Sensor" = { - "none" ( - prepend payload = @./payloads/Sensor/none.usda@ - ) { - - } - "sensors" ( - prepend payload = @./payloads/Sensor/sensors.usda@ - ) { - - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 67d64408a5574424f55b259bf380c12abcd8ed2a..0000000000000000000000000000000000000000 --- a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package-Candidate", - "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:28", - "assets": [ - { - "asset": "z1.usda", - "features": [ - { - "CAP031_SelfContainedPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [] - } - }, - { - "CAP033_SimReadyPackage.OpenUSD.0-1-0": { - "version": "0-1-0", - "passed": true, - "failing_requirements": [], - "dependencies": [ - "CAP031_SelfContainedPackage.OpenUSD.0-1-0" - ] - } - } - ] - } - ], - "content_hash": { - "sha256": "9407984e02c4308e149951430243143adf8044249404bdcd5cde3d5cae20203a" - } -} diff --git a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json deleted file mode 100644 index 606651e32c73bf9755e5badbc936f4781192409e..0000000000000000000000000000000000000000 --- a/unitree_z1/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "format_version": "1.0", - "profile": "Package", - "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:31", - "assets": [ - { - "asset": "com.nvidia.simready.packaging.json", - "features": [ - { - "CAP030_PackagingCore.OpenUSD.0-2-0": { - "version": "0.0.0", - 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"max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987755938468, - "start": -4.451996063470354e-12, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 34, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "drive_gain_validation_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 16.203, - "message": "", - "metrics": { - "dgv_joints_eligible": { - "value": 6, - "unit": null - }, - "dgv_passive_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_mimic_follower_joints_skipped": { - "value": 0, - "unit": null - }, - "dgv_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.5848701818650244, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.453, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 38, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 11.92, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.094, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "dgv_joints_tested": { - "value": 6, - "unit": null - }, - "dgv_joints_not_evaluated": { - "value": [], - "unit": null - }, - "dgv_joints_passed": { - "value": 0, - "unit": null - }, - "dgv_joints_failed": { - "value": 6, - "unit": null - }, - "motion_history_dgv_joint_001": { - "value": { - "schema_version": 1, - "name": "dgv_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987756008074, - "start": 2.5085133623092837e-12, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 750, - "json": "motion_history/dgv_joint_001.json", - "csv": "motion_history/dgv_joint_001.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_002": { - "value": { - "schema_version": 1, - "name": "dgv_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 4.0, - "max_force": 60.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.523734579033413, - "start": 0.00013580343511421233, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 467, - "json": "motion_history/dgv_joint_002.json", - "csv": "motion_history/dgv_joint_002.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_003": { - "value": { - "schema_version": 1, - "name": "dgv_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5237595036265758, - "start": 0.00016072802827693522, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 912, - "json": "motion_history/dgv_joint_003.json", - "csv": "motion_history/dgv_joint_003.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_004": { - "value": { - "schema_version": 1, - "name": "dgv_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link03/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5236348696049445, - "start": 3.609400664572604e-05, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 718, - "json": "motion_history/dgv_joint_004.json", - "csv": "motion_history/dgv_joint_004.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_005": { - "value": { - "schema_version": 1, - "name": "dgv_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link04/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987763560281, - "start": 7.577292682192649e-10, - "tolerance": 0.02617993877991495 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 663, - "json": "motion_history/dgv_joint_005.json", - "csv": "motion_history/dgv_joint_005.csv" - }, - "unit": null - }, - "motion_history_dgv_joint_006": { - "value": { - "schema_version": 1, - "name": "dgv_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link05/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 1.0, - "max_force": 30.0 - }, - "clock_basis": "nominal observed step index / configured physics fps; capture ticks are not counted", - "target": 0.5235987927443292, - "start": 1.7146030373282883e-08, - "tolerance": 0.02617993877991494 - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 737, - "json": "motion_history/dgv_joint_006.json", - "csv": "motion_history/dgv_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "effort_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 60.157, - "message": "", - "metrics": { - "eff_joints_with_candidates": { - "value": 6, - "unit": null - }, - "eff_joints_skipped_passive": { - "value": 0, - "unit": null - }, - "eff_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "eff_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.584723243784631, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "eff_force_point_observation": { - "value": { - "basis": "live child-body center of mass", - "unit": "native articulation world coordinates", - "joint": "joint6", - "body_path": "/World/AssetRoot/Asset/link06", - "direction": "-XZ", - "world_com": [ - 0.3336710529220481, - -0.00017341315805801107, - 0.48914985961619717 - ] - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.359, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 72, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 18.87, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.75, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "eff_joints_tested": { - "value": 6, - "unit": null - }, - "eff_joints_passed": { - "value": 6, - "unit": null - }, - "eff_joints_failed": { - "value": 0, - "unit": null - }, - "eff_joint_results": { - "value": [ - { - "name": "joint1", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint2", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint3", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint4", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint5", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - }, - { - "name": "joint6", - "broke_directions": [], - "broke_reasons": {}, - "min_break_force_newtons": null, - "commanded_force_at_failure_newtons": null, - "bisection_refinement_requested": true, - "bisection_refinement_available": false, - "ok": true - } - ], - "unit": null - }, - "motion_history_eff_joint_001": { - "value": { - "schema_version": 1, - "name": "eff_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link01", - "runtime_lower": -2.6179935932159424, - "runtime_upper": 2.6179935932159424, - "runtime_limit_source": "RobotHandle.get_joint_position_limits(); native articulation limit readback, not raw USD authored limits", - "break_tolerance": 0.1, - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "force_directions_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/eff_joint_001.json", - "csv": "motion_history/eff_joint_001.csv" - }, - "unit": null - }, - "motion_history_eff_joint_002": { - "value": { - "schema_version": 1, - "name": "eff_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "external_force_x": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_y": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "external_force_z": { - "unit": "N", - "source": "world-frame external force command on child body" - }, - "force_point_x": { - "unit": "native_world", - "source": "observed live child-body COM world x" - }, - "force_point_y": { - "unit": "native_world", - "source": "observed live child-body COM world y" - }, - "force_point_z": { - "unit": "native_world", - "source": "observed live child-body COM world z" - } - }, - "metadata": { - "clock_basis": "cumulative force-probe step count / configured physics fps; reset and capture ticks excluded", - "physics_fps": 240.0, - "force_basis": "issued external world force in N; not measured actuator torque or force", - "force_point_basis": "live child-body center of mass", - "force_point_unit": "native articulation world coordinates; stage-to-meter conversion unqualified", - "body_path": "/World/AssetRoot/Asset/link02", - "runtime_lower": -1.4835296869277954, - "runtime_upper": 1.4835296869277954, - 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World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 1.969, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Unitree/Z1/simready_usd/z1.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence, not an [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 3.734, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Unitree/Z1/simready_usd/z1.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 4.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_004_joint_001.json", - "csv": "motion_history/jik_target_004_joint_001.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_002": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_004_joint_002.json", - "csv": "motion_history/jik_target_004_joint_002.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_003": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_003", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link03/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_004_joint_003.json", - "csv": "motion_history/jik_target_004_joint_003.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_004": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_004", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link04/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_004_joint_004.json", - "csv": "motion_history/jik_target_004_joint_004.csv" - }, - "unit": null - }, - "motion_history_jik_target_004_joint_005": { - "value": { - "schema_version": 1, - "name": "jik_target_004_joint_005", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 4, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link05/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 1.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_004_joint_005.json", - "csv": "motion_history/jik_target_004_joint_005.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 157.782, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 12.464, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 276.98, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.765, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_rot_deg": { - "value": 149.995, - "unit": null - }, - "jm_joint_joint1_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint1_bbox_m": { - "value": 0.1612, - "unit": null - }, - "jm_joint_joint1_translation_stage_units": { - "value": 2.9860444076969216e-08, - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_stage_units": { - "value": 0.16121611167748873, - "unit": null - }, - "jm_joint_joint1_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint1_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint1_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint1_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint1_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint1_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint2_rot_deg": { - "value": 85.0, - "unit": null - }, - "jm_joint_joint2_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint2_bbox_m": { - "value": 0.4447, - "unit": null - }, - "jm_joint_joint2_translation_stage_units": { - "value": 4.6601894756243643e-08, - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_stage_units": { - "value": 0.4446797056108426, - "unit": null - }, - "jm_joint_joint2_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint2_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint2_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint2_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint2_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint2_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint3_rot_deg": { - "value": 82.501, - "unit": null - }, - "jm_joint_joint3_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint3_bbox_m": { - "value": 0.3248, - "unit": null - }, - "jm_joint_joint3_translation_stage_units": { - "value": 1.667642843473623e-07, - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_stage_units": { - "value": 0.3247909092190844, - "unit": null - }, - "jm_joint_joint3_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint3_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint3_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint3_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint3_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint3_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint4_rot_deg": { - "value": 87.0, - "unit": null - }, - "jm_joint_joint4_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint4_bbox_m": { - "value": 0.1752, - "unit": null - }, - "jm_joint_joint4_translation_stage_units": { - "value": 1.4636806278504315e-07, - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_stage_units": { - "value": 0.17518971221702145, - "unit": null - }, - "jm_joint_joint4_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint4_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint4_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint4_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint4_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint4_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint5_rot_deg": { - "value": 77.0, - "unit": null - }, - "jm_joint_joint5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint5_bbox_m": { - "value": 0.1281, - "unit": null - }, - "jm_joint_joint5_translation_stage_units": { - "value": 6.882515900719547e-08, - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_stage_units": { - "value": 0.12805895686342308, - "unit": null - }, - "jm_joint_joint5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint5_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint6_rot_deg": { - "value": 160.0, - "unit": null - }, - "jm_joint_joint6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint6_bbox_m": { - "value": 0.108, - "unit": null - }, - "jm_joint_joint6_translation_stage_units": { - "value": 7.386878482690821e-08, - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_stage_units": { - "value": 0.10799793068780734, - "unit": null - }, - "jm_joint_joint6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint6_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_joint6_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 6, - "unit": null - }, - "jm_joints_passed": { - "value": 6, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint6_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "child_body_path": "/World/AssetRoot/Asset/link01", - "parent_body_path": "/World/AssetRoot/Asset/link00", - "reference_frame": "/World/AssetRoot/Asset/link00", - "phase": "batched_drive_probe", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "child-body rotation change in parent frame (world frame when no parent) relative to trial start; translation mapped through the frozen reference-parent linear transform into reference-world stage units; not a joint-coordinate or contact measurement", - "translation_axes": "world axes at the frozen trial reference; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "child_body_path": "/World/AssetRoot/Asset/link02", - "parent_body_path": "/World/AssetRoot/Asset/link01", - "reference_frame": "/World/AssetRoot/Asset/link01", - "phase": "batched_drive_probe", - "physics_fps": 240, - 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"value": 75.824, - "unit": null - }, - "jm_joint_joint5_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint5_bbox_m": { - "value": 0.1281, - "unit": null - }, - "jm_joint_joint5_translation_stage_units": { - "value": 3.91030922770766e-08, - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_stage_units": { - "value": 0.12805246635544212, - "unit": null - }, - "jm_joint_joint5_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint5_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint5_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint5_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint5_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint5_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_joint6_rot_deg": { - "value": 157.556, - "unit": null - }, - "jm_joint_joint6_trans_pct": { - "value": 0.0, - "unit": null - }, - "jm_joint_joint6_bbox_m": { - "value": 0.108, - "unit": null - }, - "jm_joint_joint6_translation_stage_units": { - "value": 4.710778421481526e-08, - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_stage_units": { - "value": 0.10799289500315272, - "unit": null - }, - "jm_joint_joint6_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_joint6_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_joint6_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_joint6_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_joint6_pct_of_travel": { - "value": 98.5, - "unit": null - }, - "jm_joint_joint6_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joints_total": { - "value": 6, - "unit": null - }, - "jm_joints_passed": { - "value": 6, - "unit": null - }, - "jm_joints_failed": { - "value": 0, - "unit": null - }, - "jm_joint_joint1_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint2_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint3_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint4_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint5_status": { - "value": "passed", - "unit": null - }, - "jm_joint_joint6_status": { - "value": "passed", - "unit": null - }, - "motion_history_joint_movement_000": { - "value": { - "schema_version": 1, - "name": "joint_movement_000", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "child_body_path": "/World/AssetRoot/Asset/link01", - "parent_body_path": "/World/AssetRoot/Asset/link00", - "reference_frame": "/World/AssetRoot/Asset/link00", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_000.json", - "csv": "motion_history/joint_movement_000.csv" - }, - "unit": null - }, - "motion_history_joint_movement_001": { - "value": { - "schema_version": 1, - "name": "joint_movement_001", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "child_body_path": "/World/AssetRoot/Asset/link02", - "parent_body_path": "/World/AssetRoot/Asset/link01", - "reference_frame": "/World/AssetRoot/Asset/link01", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_001.json", - "csv": "motion_history/joint_movement_001.csv" - }, - "unit": null - }, - "motion_history_joint_movement_002": { - "value": { - "schema_version": 1, - "name": "joint_movement_002", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint3", - "authored_joint_name": "joint3", - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "child_body_path": "/World/AssetRoot/Asset/link03", - "parent_body_path": "/World/AssetRoot/Asset/link02", - "reference_frame": "/World/AssetRoot/Asset/link02", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_002.json", - "csv": "motion_history/joint_movement_002.csv" - }, - "unit": null - }, - "motion_history_joint_movement_003": { - "value": { - "schema_version": 1, - "name": "joint_movement_003", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint4", - "authored_joint_name": "joint4", - "prim_path": "/World/AssetRoot/Asset/link03/joint4", - "child_body_path": "/World/AssetRoot/Asset/link04", - "parent_body_path": "/World/AssetRoot/Asset/link03", - "reference_frame": "/World/AssetRoot/Asset/link03", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_003.json", - "csv": "motion_history/joint_movement_003.csv" - }, - "unit": null - }, - "motion_history_joint_movement_004": { - "value": { - "schema_version": 1, - "name": "joint_movement_004", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint5", - "authored_joint_name": "joint5", - "prim_path": "/World/AssetRoot/Asset/link04/joint5", - "child_body_path": "/World/AssetRoot/Asset/link05", - "parent_body_path": "/World/AssetRoot/Asset/link04", - "reference_frame": "/World/AssetRoot/Asset/link04", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_004.json", - "csv": "motion_history/joint_movement_004.csv" - }, - "unit": null - }, - "motion_history_joint_movement_005": { - "value": { - "schema_version": 1, - "name": "joint_movement_005", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint6", - "authored_joint_name": "joint6", - "prim_path": "/World/AssetRoot/Asset/link05/joint6", - "child_body_path": "/World/AssetRoot/Asset/link06", - "parent_body_path": "/World/AssetRoot/Asset/link05", - "reference_frame": "/World/AssetRoot/Asset/link05", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_005.json", - "csv": "motion_history/joint_movement_005.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 17.343, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 9.001, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 300.03, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.343, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.862069, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 25, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.913862, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.027939, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 17.343, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 9.001, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 300.03, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.343, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.862069, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 25, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.913862, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.027939, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 29.313, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 14, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 26505, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 29.313, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.594, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 318.8, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 1, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 1, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 14, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 26505, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 26.016, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 6, - "unit": null - }, - "mjc_valid_joints": { - "value": 6, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 0, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 0, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.584723243784631, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.837759245728994, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.6283194342967455, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0026143615350657404 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.475847384580411, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.35688553843530824, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00148495776698487 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.46504575425758954, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.3487843156931921, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0014512495543020365 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.48592774303477204, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.364445807276079, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015164151355989632 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.4300507058033646, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.3225380293525234, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0013420419161137983 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.893608474724487, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.6702063560433653, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0027886479745091414 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 443 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 1.2403538250923156, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9302653688192367, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.003870722223275891 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.7020953702926636, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5265715277194977, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002191000743234639 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.6811682069301606, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5108761551976204, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0021256941874314705 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.7195831501483916, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.5396873626112937, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002245574153452168 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.6367605984210967, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.4775704488158225, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.00198711315218425 - }, - { - "name": "joint6", - "index": 5, - "displacement": 1.3231377124786374, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.9923532843589781, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0041290625662870895 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 451 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.40315157175064087, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.30236367881298065, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0012580988719079755 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.22931796312332153, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.17198847234249115, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007156233311000904 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.2248028665781021, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.16860214993357658, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007015332511706163 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.2339606136083603, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.17547046020627022, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007301114634739037 - }, - { - "name": "joint5", - "index": 4, - "displacement": 0.2070665806531906, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.15529993548989296, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0006461843380645149 - }, - { - "name": "joint6", - "index": 5, - "displacement": 0.43028804659843445, - "velocity_hint": 3.1414999755838586, - "velocity_hint_source": "USD physxJoint:maxJointVelocity", - "estimated_command_peak_speed": 0.32271603494882584, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0013427825759704248 - } - ], - "joints_omitted": 0, - "iteration": 2, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 425 - } - ], - "unit": null - }, - "mjc_timing_iterations_omitted": { - "value": 0, - "unit": null - }, - "mjc_completed_nominal_ticks": { - "value": 1559, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.328, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 12, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 110.67, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.532, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mjc_iteration_0_joints": { - "value": [ - { - "name": "joint1", - "target": -0.8377579498291017, - "final_position": -0.8214748501777649, - "final_error": 0.016283099651336785, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": -0.4747294998168945, - "final_position": -0.4647306203842163, - "final_error": 0.009998879432678187, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": -0.46076686859130855, - "final_position": -0.4507847726345062, - "final_error": 0.009982095956802328, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": -0.4858996200561524, - "final_position": -0.47663334012031555, - "final_error": 0.00926627993583684, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": -0.4300491333007813, - "final_position": -0.4217360317707062, - "final_error": 0.00831310153007514, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": -0.8936084747314454, - "final_position": -0.876333475112915, - "final_error": 0.017274999618530407, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_1_joints": { - "value": [ - { - "name": "joint1", - "target": 0.41887897491455073, - "final_position": 0.40315157175064087, - "final_error": 0.01572740316390986, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.23736474990844725, - "final_position": 0.22931796312332153, - "final_error": 0.008046786785125715, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": 0.23038343429565433, - "final_position": 0.2248028665781021, - "final_error": 0.005580567717552221, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 0.24294981002807603, - "final_position": 0.2339606136083603, - "final_error": 0.00898919641971574, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.2150245666503905, - "final_position": 0.2070665806531906, - "final_error": 0.007957985997199879, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 0.4468042373657224, - "final_position": 0.43028804659843445, - "final_error": 0.01651619076728794, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iteration_2_joints": { - "value": [ - { - "name": "joint1", - "target": 0.0, - "final_position": 0.016116995364427567, - "final_error": 0.016116995364427567, - "entered_tolerance": true - }, - { - "name": "joint2", - "target": 0.0, - "final_position": 0.010446925647556782, - "final_error": 0.010446925647556782, - "entered_tolerance": true - }, - { - "name": "joint3", - "target": 0.0, - "final_position": 0.013272314332425594, - "final_error": 0.013272314332425594, - "entered_tolerance": true - }, - { - "name": "joint4", - "target": 0.0, - "final_position": 0.009329678490757942, - "final_error": 0.009329678490757942, - "entered_tolerance": true - }, - { - "name": "joint5", - "target": 0.0, - "final_position": 0.008233146741986275, - "final_error": 0.008233146741986275, - "entered_tolerance": true - }, - { - "name": "joint6", - "target": 0.0, - "final_position": 0.01710270345211029, - "final_error": 0.01710270345211029, - "entered_tolerance": true - } - ], - "unit": null - }, - "mjc_iterations_passed": { - "value": 3, - "unit": null - }, - "mjc_iterations_failed": { - "value": 0, - "unit": null - }, - "motion_history_mjc_joint_000": { - "value": { - "schema_version": 1, - "name": "mjc_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 332, - "json": "motion_history/mjc_joint_000.json", - "csv": "motion_history/mjc_joint_000.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_001": { - "value": { - "schema_version": 1, - "name": "mjc_joint_001", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 332, - "json": "motion_history/mjc_joint_001.json", - "csv": "motion_history/mjc_joint_001.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_002": { - "value": { - "schema_version": 1, - "name": "mjc_joint_002", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 332, - "json": "motion_history/mjc_joint_002.json", - "csv": "motion_history/mjc_joint_002.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_003": { - "value": { - "schema_version": 1, - "name": "mjc_joint_003", - 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}, - "_timing_capture_frame_avg_ms": { - "value": 442.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.843, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 6, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 15, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link03/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link04/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 12, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link05/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 50.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 14, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 13.0, - "message": "", - "metrics": { - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": 1.5848701818650244, - "qualified": true, - "basis": "kinematic_span", - "reference_source": "authored body geometry, joint anchor offsets and bounded prismatic travel; frozen setup reference" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.5, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 24, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 20.83, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.078, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link00/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link01/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 4.0, - "max_force": 60.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link02/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link03/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint5", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link04/joint5", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 2.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint6", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link05/joint6", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 500.0, - "damping": 1.0, - "max_force": 30.0 - } - }, - "clock_source": "estimated", - "stop_reason": "step_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 120, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/unitree_z1/.metadata/z1_validation.json b/unitree_z1/.metadata/z1_validation.json deleted file mode 100644 index 8245aaa5ca4cb0b50670bf3f2a185baf3916c7d7..0000000000000000000000000000000000000000 --- a/unitree_z1/.metadata/z1_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/z1.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - 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"package_hash": { - "sha256": "1ff4b0ad347d6aac6828db362a6e8b8166d2205e80d1f9bed2969b553ac2b049" - } -} diff --git a/unitree_z1/materials/mdl/OmniPBR.mdl b/unitree_z1/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/unitree_z1/materials/mdl/OmniPBRBase.mdl b/unitree_z1/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/unitree_z1/materials/mdl/OmniPBR_ClearCoat.mdl b/unitree_z1/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/unitree_z1/materials/mdl/OmniSurface.mdl b/unitree_z1/materials/mdl/OmniSurface.mdl deleted file mode 100644 index 64efda62f260375b0096521d12cfe79fb08a93b7..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface.mdl +++ /dev/null @@ -1,1693 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// Wrapper for OmniSurfaceBase material - -mdl 1.7; - -import ::anno::*; -import ::base::*; -import ::limits::*; -import ::state::*; -import ::tex::*; - -import OmniSurface::OmniSurfaceBase::*; -import OmniSurface::OmniShared::*; -import OmniSurface::OmniImage::*; - -export material OmniSurface( - - //Diffuse reflection - // - float diffuse_reflection_weight = float(0.8) [[ - anno::display_name("Weight"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d diffuse_reflection_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Base"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode diffuse_reflection_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Base") - ]], - - color diffuse_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Base") - ]], - - uniform texture_2d diffuse_reflection_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Base") - ]], - - float diffuse_reflection_roughness = float(0.0) [[ - anno::display_name("Diffuse Roughness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d diffuse_reflection_roughness_image = texture_2d() [[ - anno::display_name("Diffuse Roughness Image"), - anno::in_group("Base"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode diffuse_reflection_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Diffuse Roughness Alpha Mode"), - anno::in_group("Base") - ]], - - //Metal - // - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d metalness_image = texture_2d() [[ - anno::display_name("Metalness Image"), - anno::in_group("Base"), - anno::usage("metalness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode metalness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Metalness Image Alpha Mode"), - anno::in_group("Base") - ]], - - //Specular reflection - // - float specular_reflection_weight = float(1.0) [[ - anno::display_name("Weight"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Specular"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Specular") - ]], - - color specular_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Specular") - ]], - - uniform texture_2d specular_reflection_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Specular") - ]], - - float specular_reflection_roughness = float(0.2) [[ - anno::display_name("Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_roughness_image = texture_2d() [[ - anno::display_name("Roughness Image"), - anno::in_group("Specular"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Roughness Image Alpha Mode"), - anno::in_group("Specular") - ]], - - uniform OmniSurface::OmniShared::ior_presets specular_reflection_ior_preset = - OmniSurface::OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Specular") - ]], - - uniform float specular_reflection_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Specular"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float specular_reflection_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_anisotropy_image = texture_2d() [[ - anno::display_name("Anisotropy Image"), - anno::in_group("Specular"), - anno::usage("anisotropy") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Image Alpha Mode"), - anno::in_group("Specular") - ]], - - float specular_reflection_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_anisotropy_rotation_image = texture_2d() [[ - anno::display_name("Anisotropy Rotation Image"), - anno::in_group("Specular"), - anno::usage("anisotropy_rotation") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_anisotropy_rotation_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Rotation Alpha Mode"), - anno::in_group("Specular") - ]], - - //Specular transmission - // - uniform bool enable_specular_transmission = false [[ - anno::display_name("Enable Transmission"), - anno::description("Enables the use of transmission"), - anno::in_group("Transmission") - ]], - - float specular_transmission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_transmission_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Transmission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_transmission_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Transmission") - ]], - - color specular_transmission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Transmission") - ]], - - uniform texture_2d specular_transmission_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Transmission") - ]], - - float specular_transmission_scattering_depth = float(0.0) [[ - anno::display_name("Depth"), - anno::in_group("Transmission"), - anno::soft_range(0.0f, 100.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform texture_2d specular_transmission_scattering_depth_image = texture_2d() [[ - anno::display_name("Depth Image"), - anno::in_group("Transmission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_transmission_scattering_depth_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Depth Image Alpha Mode"), - anno::in_group("Transmission") - ]], - - color specular_transmission_scattering_color = color(0.0) [[ - anno::display_name("Scatter"), - anno::in_group("Transmission") - ]], - - uniform texture_2d specular_transmission_scattering_color_image = texture_2d() [[ - anno::display_name("Scatter Image"), - anno::in_group("Transmission") - ]], - - float specular_transmission_scatter_anisotropy = float(0.0) [[ - anno::display_name("Scatter Anisotropy"), - anno::in_group("Transmission"), - anno::hard_range(-1.0f, 1.0f) - ]], - - uniform texture_2d specular_transmission_scatter_anisotropy_image = texture_2d() [[ - anno::display_name("Scatter Anisotropy Image"), - anno::in_group("Transmission") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_transmission_scatter_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Scatter Anisotropy Image Alpha Mode"), - anno::in_group("Transmission") - ]], - - uniform float specular_transmission_dispersion_abbe = float(0.0) [[ - anno::display_name("Dispersion Abbe"), - anno::in_group("Transmission"), - anno::soft_range(0.0f, 100.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - //Subsurface - // - uniform bool enable_diffuse_transmission = false [[ - anno::display_name("Enable Subsurface"), - anno::description("Enables the use of subsurface"), - anno::in_group("Subsurface") - ]], - - float subsurface_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Subsurface"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d subsurface_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Subsurface"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode subsurface_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Subsurface") - ]], - - uniform OmniSurface::OmniShared::scattering_colors_presets subsurface_scattering_colors_preset = - OmniSurface::OmniShared::scattering_colors_custom [[ - anno::display_name("Scattering Presets"), - anno::in_group("Subsurface") - ]], - - color subsurface_transmission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Subsurface") - ]], - - uniform texture_2d subsurface_transmission_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Subsurface") - ]], - - color subsurface_scattering_color = color(1.0) [[ - anno::display_name("Radius (mfp)"), - anno::in_group("Subsurface") - ]], - - uniform texture_2d subsurface_scattering_color_image = texture_2d() [[ - anno::display_name("Radius Image"), - anno::in_group("Subsurface") - ]], - - float subsurface_scale = float(1.0) [[ - anno::display_name("Scale"), - anno::in_group("Subsurface"), - anno::soft_range(0.0f, 10.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform texture_2d subsurface_scale_image = texture_2d() [[ - anno::display_name("Scale Image"), - anno::in_group("Subsurface"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode subsurface_scale_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Scale Image Alpha Mode"), - anno::in_group("Subsurface") - ]], - - float subsurface_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Subsurface"), - anno::hard_range(-1.0f, 1.0f) - ]], - - uniform texture_2d subsurface_anisotropy_image = texture_2d() [[ - anno::display_name("Anisotropy Image"), - anno::in_group("Subsurface"), - anno::usage("anisotropy") - ]], - - uniform OmniSurface::OmniImage::alpha_mode subsurface_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Image Alpha Mode"), - anno::in_group("Subsurface") - ]], - - //Coat - // - float coat_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Coat"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Coat") - ]], - - color coat_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Coat") - ]], - - uniform texture_2d coat_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Coat") - ]], - - float coat_roughness = float(0.1) [[ - anno::display_name("Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_roughness_image = texture_2d() [[ - anno::display_name("Roughness Image"), - anno::in_group("Coat"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Roughness Image Alpha Mode"), - anno::in_group("Coat") - ]], - - uniform OmniSurface::OmniShared::ior_presets coat_ior_preset = - OmniSurface::OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Coat") - ]], - - uniform float coat_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Coat"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float coat_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_anisotropy_image = texture_2d() [[ - anno::display_name("Anisotropy Image"), - anno::in_group("Coat"), - anno::usage("anisotropy") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_anisotropy_rotation_image = texture_2d() [[ - anno::display_name("Anisotropy Rotation Image"), - anno::in_group("Coat"), - anno::usage("anisotropy_rotation") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_anisotropy_rotation_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Rotation Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_affect_color = float(0.0) [[ - anno::display_name("Affect Color"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_affect_color_image = texture_2d() [[ - anno::display_name("Affect Color Image"), - anno::in_group("Coat") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_affect_color_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Affect Color Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_affect_roughness = float(0.0) [[ - anno::display_name("Affect Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_affect_roughness_image = texture_2d() [[ - anno::display_name("Affect Roughness Image"), - anno::in_group("Coat"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_affect_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Affect Roughness Alpha Mode"), - anno::in_group("Coat") - ]], - - uniform float coat_normal_strength = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float3 coat_normal = state::normal() [[ - anno::display_name("Normal"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - uniform texture_2d coat_normal_image = texture_2d() [[ - anno::display_name("Normal Map Image"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - uniform bool coat_normal_image_flip_r_channel = false [[ - anno::display_name("Normal Map Flip R Channel"), - anno::in_group("Coat") - ]], - - uniform bool coat_normal_image_flip_g_channel = false [[ - anno::display_name("Normal Map Flip G Channel"), - anno::in_group("Coat") - ]], - - uniform bool coat_normal_image_flip_b_channel = false [[ - anno::display_name("Normal Map Flip B Channel"), - anno::in_group("Coat") - ]], - - //Specular retro-reflection - // - float specular_retro_reflection_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Sheen"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_retro_reflection_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Sheen"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_retro_reflection_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Sheen") - ]], - - color specular_retro_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Sheen") - ]], - - uniform texture_2d specular_retro_reflection_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Sheen") - ]], - - float specular_retro_reflection_roughness = float(0.3) [[ - anno::display_name("Roughness"), - anno::in_group("Sheen"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_retro_reflection_roughness_image = texture_2d() [[ - anno::display_name("Roughness Image"), - anno::in_group("Sheen"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_retro_reflection_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Roughness Image Alpha Mode"), - anno::in_group("Sheen") - ]], - - //Emission - // - float emission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Emission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d emission_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Emission") - ]], - - uniform OmniSurface::OmniShared::emission_mode emission_mode = - OmniSurface::OmniShared::emission_lx [[ - anno::display_name("Emission Mode"), - anno::in_group("Emission") - ]], - - float emission_intensity = float(1.0) [[ - anno::display_name("Intensity"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 1000.0f) - ]], - - uniform texture_2d emission_intensity_image = texture_2d() [[ - anno::display_name("Intensity Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_intensity_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Intensity Image Alpha Mode"), - anno::in_group("Emission") - ]], - - color emission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Emission") - ]], - - uniform texture_2d emission_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Emission") - ]], - - uniform bool emission_use_temperature = false [[ - anno::display_name("Use Temperature"), - anno::in_group("Emission") - ]], - - float emission_temperature = float(6500.0) [[ - anno::display_name("Temperature (kelvin)"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 10000.0f) - ]], - - uniform texture_2d emission_temperature_image = texture_2d() [[ - anno::display_name("Temperature Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_temperature_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Temperature Image Alpha Mode"), - anno::in_group("Emission") - ]], - - //Thin Film - // - uniform bool enable_thin_film = false [[ - anno::display_name("Enable Thin Film"), - anno::description("Enable the use of thin film"), - anno::in_group("Thin Film") - ]], - - float thin_film_thickness = float(400.0) [[ - anno::display_name("Thickness (nm)"), - anno::in_group("Thin Film"), - anno::soft_range(0.0f, 2000.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform texture_2d thin_film_thickness_image = texture_2d() [[ - anno::display_name("Thickness Image"), - anno::in_group("Thin Film"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode thin_film_thickness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Thickness Image Alpha Mode"), - anno::in_group("Thin Film") - ]], - - uniform OmniSurface::OmniShared::ior_presets thin_film_ior_preset = - OmniSurface::OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Thin Film") - ]], - - uniform float thin_film_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Thin Film"), - anno::soft_range(1.0f, 3.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - //Geometry - // - uniform bool thin_walled = false [[ - anno::display_name("Thin Walled"), - anno::description("Thin surface with no interior."), - anno::in_group("Geometry") - ]], - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d geometry_opacity_image = texture_2d() [[ - anno::display_name("Opacity Image"), - anno::in_group("Geometry"), - anno::usage("opacity") - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_opacity_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Opacity Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - - uniform float geometry_normal_strength = float(1.0) [[ - anno::display_name("Geometry Normal Strength"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform float geometry_normal_roughness_strength = float(1.0) [[ - anno::display_name("Geometry Normal Roughness Strength"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - uniform texture_2d geometry_normal_image = texture_2d() [[ - anno::display_name("Geometry Normal Map Image"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - uniform bool geometry_normal_image_flip_r_channel = false [[ - anno::display_name("Normal Map Flip R Channel"), - anno::in_group("Geometry") - ]], - - uniform bool geometry_normal_image_flip_g_channel = false [[ - anno::display_name("Normal Map Flip G Channel"), - anno::in_group("Geometry") - ]], - - uniform bool geometry_normal_image_flip_b_channel = false [[ - anno::display_name("Normal Map Flip B Channel"), - anno::in_group("Geometry") - ]], - - uniform OmniSurface::OmniImage::tangent_bitangent_mapping geometry_tangent_bitangent_mapping = - OmniSurface::OmniImage::red_green [[ - anno::display_name("Tangent Bitangent Mapping"), - anno::in_group("Geometry") - ]], - - //Displacement - float3 geometry_displacement = float3(0.0) [[ - anno::display_name("Displacement"), - anno::in_group("Geometry") - ]], - - uniform OmniSurface::OmniShared::displacement_mode geometry_displacement_mode = - OmniSurface::OmniShared::displacement_height [[ - anno::display_name("Displacement Mode"), - anno::in_group("Geometry") - ]], - - uniform texture_2d geometry_displacement_image = texture_2d() [[ - anno::display_name("Displacement Image"), - anno::in_group("Geometry"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_displacement_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Displacement Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - float geometry_displacement_scale = float(1.0) [[ - anno::display_name("Displacement Scale"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d geometry_displacement_scale_image = texture_2d() [[ - anno::display_name("Displacement Scale Image"), - anno::in_group("Geometry"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_displacement_scale_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Displacement Scale Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - float geometry_displacement_scalar_zero_value = float(0.0) [[ - anno::display_name("Displacement Scalar Zero Value"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f) - ]], - - //UVW - // - uniform base::texture_coordinate_system uvw_texture_coordinate_system = - base::texture_coordinate_uvw [[ - anno::display_name("Texture Coordinate"), - anno::in_group("UVW Coordinates") - ]], - - uniform int uvw_uv_set = 0 [[ - anno::display_name("UV Set"), - anno::in_group("UVW Coordinates"), - anno::hard_range(0, 4) - ]], - - uniform bool uvw_ignore_missing_textures = false [[ - anno::display_name("Ignore Missing Images"), - anno::in_group("UVW Coordinates") - ]], - - color uvw_missing_texture_color = color(0.0, 0.0, 0.0) [[ - anno::display_name("Missing Image Color"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_use_uv_coords = false [[ - anno::display_name("Use UV Coords"), - anno::in_group("UVW Coordinates") - ]], - - float2 uvw_uv_coords = float2(0.0) [[ - anno::display_name("UV Coords"), - anno::in_group("UVW Coordinates") - ]], - - uniform float uvw_s_offset = 0.0f [[ - anno::display_name("Offset U"), - anno::in_group("UVW Coordinates"), - anno::soft_range(-1.0f, 1.0f) - ]], - - uniform float uvw_t_offset = 0.0f [[ - anno::display_name("Offset V"), - anno::in_group("UVW Coordinates"), - anno::soft_range(-1.0f, 1.0f) - ]], - - uniform OmniSurface::OmniImage::wrap_mode uvw_s_wrap = - OmniSurface::OmniImage::wrap_periodic [[ - anno::display_name("Wrap U"), - anno::in_group("UVW Coordinates") - ]], - - uniform OmniSurface::OmniImage::wrap_mode uvw_t_wrap = - OmniSurface::OmniImage::wrap_periodic [[ - anno::display_name("Wrap V"), - anno::in_group("UVW Coordinates") - ]], - - uniform float uvw_s_scale = 1.0f [[ - anno::display_name("Scale U"), - anno::in_group("UVW Coordinates"), - anno::soft_range(0.0f, 100.0f) - ]], - - uniform float uvw_t_scale = 1.0f [[ - anno::display_name("Scale V"), - anno::in_group("UVW Coordinates"), - anno::soft_range(0.0f, 100.0f) - ]], - - uniform bool uvw_s_flip = false [[ - anno::display_name("Flip U"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_t_flip = false [[ - anno::display_name("Flip V"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_swap_st = false [[ - anno::display_name("Swap UV"), - anno::in_group("UVW Coordinates") - ]], - - //Projection Coordinates (Local / World) - uniform OmniSurface::OmniImage::projection_mode uvw_projection_mode = - OmniSurface::OmniImage::projection_cubic [[ - anno::display_name("Projection Mode"), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_translate = float3(0.0) [[ - anno::display_name("Translate"), - anno::description("Translate the projected texture."), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_rotate = float3(0.0) [[ - anno::display_name("Rotate"), - anno::description("Rotate the projected texture."), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_scale = float3(1.0) [[ - anno::display_name("Scale"), - anno::description("Scale the projected texture."), - anno::in_group("UVW Coordinates") - ]] -) -[[ - anno::display_name("OmniSurface"), - anno::description("A base material for modeling a variety of surfaces."), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "surface")), - anno::version(1, 0, 0, ""), - anno::in_group("Advanced") -]] = let { - - base::texture_coordinate_info texture_coordinate_info = - OmniSurface::OmniImage::compute_texture_coordinate_2( - uvw_texture_coordinate_system, - uvw_uv_set, - uvw_s_offset, - uvw_t_offset, - uvw_s_scale, - uvw_t_scale, - uvw_s_flip, - uvw_t_flip, - uvw_swap_st, - uvw_projection_mode, - uvw_projection_translate, - uvw_projection_rotate, - uvw_projection_scale); - - OmniSurface::OmniImage::normal_roughness_data geometry_normal_roughness_data = - tex::texture_isvalid(geometry_normal_image) ? - OmniSurface::OmniImage::tangent_space_normal_roughness_lookup_2( - geometry_normal_image, - uvw_ignore_missing_textures, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - uvw_s_flip, - uvw_t_flip, - geometry_normal_strength, - geometry_normal_image_flip_r_channel, - geometry_normal_image_flip_g_channel, - geometry_normal_image_flip_b_channel, - texture_coordinate_info - ) : - OmniSurface::OmniImage::normal_roughness_data(geometry_normal, float2(0.0)); - - material base = OmniSurface::OmniSurfaceBase::OmniSurfaceBase( - - //Base - // - diffuse_reflection_weight: tex::texture_isvalid(diffuse_reflection_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - diffuse_reflection_weight_image_alpha_mode - ).mono : - diffuse_reflection_weight, - - diffuse_reflection_color: tex::texture_isvalid(diffuse_reflection_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - diffuse_reflection_color, - - diffuse_reflection_roughness: tex::texture_isvalid(diffuse_reflection_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - diffuse_reflection_roughness_image_alpha_mode - ).mono : - diffuse_reflection_roughness, - - //Metalness - // - metalness: tex::texture_isvalid(metalness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - metalness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - metalness_image_alpha_mode - ).mono : - metalness, - - //Specular reflection - // - specular_reflection_weight: tex::texture_isvalid(specular_reflection_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_weight_image_alpha_mode - ).mono : - specular_reflection_weight, - - specular_reflection_color: tex::texture_isvalid(specular_reflection_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - specular_reflection_color, - - specular_reflection_roughness: tex::texture_isvalid(specular_reflection_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_roughness_image_alpha_mode - ).mono : - specular_reflection_roughness, - - specular_reflection_ior_preset: specular_reflection_ior_preset, - specular_reflection_ior: specular_reflection_ior, - - specular_reflection_anisotropy: tex::texture_isvalid(specular_reflection_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_anisotropy_image_alpha_mode - ).mono : - specular_reflection_anisotropy, - - specular_reflection_anisotropy_rotation: tex::texture_isvalid(specular_reflection_anisotropy_rotation_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_anisotropy_rotation_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_anisotropy_rotation_image_alpha_mode - ).mono : - specular_reflection_anisotropy_rotation, - - //Specular transmission - // - enable_specular_transmission: enable_specular_transmission, - - specular_transmission_weight: tex::texture_isvalid(specular_transmission_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_transmission_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_transmission_weight_image_alpha_mode - ).mono : - specular_transmission_weight, - - specular_transmission_color: tex::texture_isvalid(specular_transmission_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - specular_transmission_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - specular_transmission_color, - - specular_transmission_scattering_depth: tex::texture_isvalid(specular_transmission_scattering_depth_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_transmission_scattering_depth_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_transmission_scattering_depth_image_alpha_mode - ).mono : - specular_transmission_scattering_depth, - - specular_transmission_scattering_color: tex::texture_isvalid(specular_transmission_scattering_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - specular_transmission_scattering_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - specular_transmission_scattering_color, - - specular_transmission_scatter_anisotropy: tex::texture_isvalid(specular_transmission_scatter_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_transmission_scatter_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_transmission_scatter_anisotropy_image_alpha_mode - ).mono : - specular_transmission_scatter_anisotropy, - - specular_transmission_dispersion_abbe: specular_transmission_dispersion_abbe, - - //Subsurface - // - enable_diffuse_transmission: enable_diffuse_transmission, - - subsurface_weight: tex::texture_isvalid(subsurface_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - subsurface_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - subsurface_weight_image_alpha_mode - ).mono : - subsurface_weight, - - subsurface_scattering_colors_preset: subsurface_scattering_colors_preset, - - subsurface_transmission_color: tex::texture_isvalid(subsurface_transmission_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - subsurface_transmission_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - subsurface_transmission_color, - - subsurface_scattering_color: tex::texture_isvalid(subsurface_scattering_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - subsurface_scattering_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - subsurface_scattering_color, - - subsurface_scale: tex::texture_isvalid(subsurface_scale_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - subsurface_scale_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - subsurface_scale_image_alpha_mode - ).mono : - subsurface_scale, - - subsurface_anisotropy: tex::texture_isvalid(subsurface_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - subsurface_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - subsurface_anisotropy_image_alpha_mode - ).mono : - subsurface_anisotropy, - - //Coat - // - coat_weight: tex::texture_isvalid(coat_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_weight_image_alpha_mode - ).mono : - coat_weight, - - coat_color: tex::texture_isvalid(coat_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - coat_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - coat_color, - - coat_roughness: tex::texture_isvalid(coat_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_roughness_image_alpha_mode - ).mono : - coat_roughness, - - coat_ior_preset: coat_ior_preset, - coat_ior: coat_ior, - - coat_anisotropy: tex::texture_isvalid(coat_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_anisotropy_image_alpha_mode - ).mono : - coat_anisotropy, - - coat_anisotropy_rotation: tex::texture_isvalid(coat_anisotropy_rotation_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_anisotropy_rotation_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_anisotropy_rotation_image_alpha_mode - ).mono : - coat_anisotropy_rotation, - - coat_affect_color: tex::texture_isvalid(coat_affect_color_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_affect_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_affect_color_image_alpha_mode - ).mono : - coat_affect_color, - - coat_affect_roughness: tex::texture_isvalid(coat_affect_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_affect_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_affect_roughness_image_alpha_mode - ).mono : - coat_affect_roughness, - - coat_normal: tex::texture_isvalid(coat_normal_image) ? - OmniSurface::OmniImage::normal_mapping( - OmniSurface::OmniImage::tangent_space_normal_lookup_2( - coat_normal_image, - uvw_ignore_missing_textures, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - uvw_s_flip, - uvw_t_flip, - coat_normal_strength, - coat_normal_image_flip_r_channel, - coat_normal_image_flip_g_channel, - coat_normal_image_flip_b_channel, - texture_coordinate_info - ), - geometry_tangent_bitangent_mapping, - coat_normal - ): - coat_normal, - - //Specular retro reflection - // - specular_retro_reflection_weight: tex::texture_isvalid(specular_retro_reflection_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_retro_reflection_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_retro_reflection_weight_image_alpha_mode - ).mono : - specular_retro_reflection_weight, - - specular_retro_reflection_color: tex::texture_isvalid(specular_retro_reflection_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - specular_retro_reflection_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - specular_retro_reflection_color, - - specular_retro_reflection_roughness: tex::texture_isvalid(specular_retro_reflection_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_retro_reflection_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_retro_reflection_roughness_image_alpha_mode - ).mono : - specular_retro_reflection_roughness, - - //Emission - // - emission_weight: tex::texture_isvalid(emission_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_weight_image_alpha_mode - ).mono : - emission_weight, - - emission_mode: emission_mode, - - emission_intensity: tex::texture_isvalid(emission_intensity_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_intensity_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_intensity_image_alpha_mode - ).mono : - emission_intensity, - - emission_color: tex::texture_isvalid(emission_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - emission_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - emission_color, - - emission_use_temperature: emission_use_temperature, - - emission_temperature: tex::texture_isvalid(emission_temperature_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_temperature_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_temperature_image_alpha_mode - ).mono : - emission_temperature, - - //Thin Film - // - enable_thin_film: enable_thin_film, - - thin_film_thickness: tex::texture_isvalid(thin_film_thickness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - thin_film_thickness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - thin_film_thickness_image_alpha_mode - ).mono : - thin_film_thickness, - - thin_film_ior_preset: thin_film_ior_preset, - thin_film_ior: thin_film_ior, - - //Geometry - // - thin_walled: thin_walled, - - enable_opacity: enable_opacity, - - geometry_opacity: tex::texture_isvalid(geometry_opacity_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_opacity_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_opacity_image_alpha_mode - ).mono : - geometry_opacity, - - geometry_opacity_threshold: geometry_opacity_threshold, - - round_edges_radius: round_edges_radius, - - round_edges_roundness: round_edges_roundness, - - round_edges_across_materials: round_edges_across_materials, - - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - - geometry_normal_roughness: geometry_normal_roughness_data.roughness, - - geometry_normal: OmniSurface::OmniImage::normal_mapping( - geometry_normal_roughness_data.normal, - geometry_tangent_bitangent_mapping, - geometry_normal), - - geometry_displacement: tex::texture_isvalid(geometry_displacement_image) ? - OmniSurface::OmniShared::displacement_adjustment( - (geometry_displacement_mode == OmniSurface::OmniShared::displacement_height) ? - float3(OmniSurface::OmniImage::texture_adjustment_2( - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_displacement_image_alpha_mode - ), - 0.0f, //exposure - color(0.5), //default_color - color(1.0), //color_gain - color(0.0), //color_offset - 1.0f, //alpha_gain - -1.0f * geometry_displacement_scalar_zero_value, //alpha_offset - false, //invert - 0.0f //blend_factor - ).mono) : - - float3(OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint - ), - - geometry_displacement_mode, - - tex::texture_isvalid(geometry_displacement_scale_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_scale_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_displacement_scale_image_alpha_mode - ).mono : - geometry_displacement_scale - ): - geometry_displacement - ); - -} in material( - thin_walled: base.thin_walled, - ior: base.ior, - surface: base.surface, - backface: base.backface, - volume: base.volume, - geometry: base.geometry -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniHairBase.png b/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniHairBase.png deleted file mode 100644 index ebb7328cc325ed135bc46b9e88970bc4cec0c008..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniHairBase.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6c199f719bb31cdc60ff9b8e1d3b206be699d98b6c57e178ecf03abe29918f84 -size 38058 diff --git a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBase.png b/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBase.png deleted file mode 100644 index d021b14dd32226974e8227a0992cf0afcd57a76f..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBase.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:98778cb33e32234e304c918a3dd5299b550ad1d84d6811aac6e59a69ea61883c -size 67332 diff --git a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBlendBase.png b/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBlendBase.png deleted file mode 100644 index 20c5133542bfb0c10d7196875e874e8c64cd635a..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceBlendBase.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:650831bc8c7d44733ea3124d97537c9629e1c99b4637f5495d773b037a67666e -size 93920 diff --git a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceLiteBase.png b/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceLiteBase.png deleted file mode 100644 index 491918a1c82be69056175ac077d4b1ae38ccf3d9..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/.thumbs/OmniSurfaceLiteBase.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:f3786412c4aaf7366af3d41a0f4d4227b6978b6f89ea8c5d92150dcd67325158 -size 63206 diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniHairBase.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniHairBase.mdl deleted file mode 100644 index 8ff2b5612ef78c3894e95541a8151e840d81369f..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniHairBase.mdl +++ /dev/null @@ -1,371 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// Implementation of OmniHairBase material - -mdl 1.7; - -import ::anno::*; -import ::df::*; -import ::limits::*; -import ::math::*; -import ::state::*; - -import OmniShared::*; - -//http://www.eugenedeon.com/wp-content/uploads/2014/04/egsrhair.pdf -color compute_absorption_from_melanin_deon(float eumelanin, float pheomelanin) [[ - anno::unused() -]] -{ - return math::max( - eumelanin * color(0.419, 0.697, 1.37) + pheomelanin * color(0.187, 0.4, 1.05), - color(0.0)); -} - -//https://benedikt-bitterli.me/pchfm/pchfm.pdf -color compute_absorption_from_melanin(float eumelanin, float pheomelanin) -{ - return math::max( - eumelanin * color(0.506, 0.841, 1.653) + pheomelanin * color(0.343, 0.733, 1.924), - color(0.0)); -} - -color compute_absorption_from_color(color c, float betaN) -{ - float betaN2 = betaN * betaN; - float betaN4 = betaN2 * betaN2; - float roughness_fac = - 5.969f - - (0.215f * betaN) + - (2.532f * betaN2) - - (10.73f * betaN2 * betaN) + - (5.574f * betaN4) + - (0.245f * betaN4 * betaN); - - color sigma = math::log(math::min(math::max(c, 0.001f), color(1.0))) / roughness_fac; - return sigma * sigma; -} - -float pow20(float beta) -{ - float beta2 = beta * beta; - float beta4 = beta2 * beta2; - float beta8 = beta4 * beta4; - float beta16 = beta8 * beta8; - float beta20 = beta16 * beta4; - return beta20; -} - -float pow22(float beta) -{ - float beta2 = beta * beta; - float beta4 = beta2 * beta2; - float beta8 = beta4 * beta4; - float beta16 = beta8 * beta8; - float beta22 = beta16 * beta4 * beta2; - return beta22; -} - -//Compute variance logistic scale factor -float compute_v(float betaM) -{ - float tmp = 0.726f * betaM + 0.812f * betaM * betaM + 3.7f * pow20(betaM); - return tmp * tmp; -} - -//Compute azimuthal logistic scale factor -float compute_s(float betaN) -{ - return 0.265f * betaN + 1.194f * betaN * betaN + 5.372f * pow22(betaN); -} - -export material OmniHairBase( - - //Color - // - float base_color_weight = float(1.0) [[ - anno::display_name("Base Color Weight"), - anno::in_group("Color"), - anno::hard_range(0.0f, 1.0f) - ]], - - color base_color = color(1.0) [[ - anno::display_name("Base Color"), - anno::in_group("Color") - ]], - - //Melanin - // - uniform OmniShared::melanin_concentration_presets melanin_concentration_preset = - OmniShared::melanin_concentration_custom [[ - anno::display_name("Melanin Presets"), - anno::in_group("Color") - ]], - - float melanin_concentration = float(1.0) [[ - anno::display_name("Melanin"), - anno::in_group("Color"), - anno::soft_range(0.0f, 1.0f), - anno::hard_range(0.0f, 1.5f) - ]], - - float melanin_redness = float(0.5) [[ - anno::display_name("Melanin Redness (Pheomelanin)"), - anno::in_group("Color"), - anno::soft_range(0.0f, 1.0f) - ]], - - float melanin_concentration_randomize = float(0.0) [[ - anno::display_name("Melanin Randomize"), - anno::in_group("Color"), - anno::unused(), - anno::hard_range(0.0f, 1.0f) - ]], - - //Specular - // - float specular_reflection_roughness = float(0.1) [[ - anno::display_name("Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform bool specular_reflection_anisotropic_roughness = false [[ - anno::display_name("Anisotropic Roughness"), - anno::in_group("Specular") - ]], - - float specular_reflection_azimuthal_roughness = float(0.2) [[ - anno::display_name("Azimuthal Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float specular_reflection_ior = float(1.55) [[ - anno::display_name("IOR"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float specular_reflection_shift = float(3.0) [[ - anno::display_name("Shift (degree)"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 20.0f), - anno::hard_range(-90.0f, 90.0f) - ]], - - //Diffuse Reflection - // - float diffuse_reflection_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Diffuse"), - anno::hard_range(0.0f, 1.0f) - ]], - - color diffuse_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Diffuse") - ]], - - //Emission - // - float emission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Emission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::emission_mode emission_mode = - OmniShared::emission_lx [[ - anno::display_name("Emission Mode"), - anno::in_group("Emission") - ]], - - float emission_intensity = float(1.0) [[ - anno::display_name("Intensity"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 1000.0f) - ]], - - color emission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Emission") - ]], - - uniform bool emission_use_temperature = false [[ - anno::display_name("Use Temperature"), - anno::in_group("Emission") - ]], - - float emission_temperature = float(6500.0) [[ - anno::display_name("Temperature (kelvin)"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 10000.0f) - ]], - - //Geometry - // - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - float3 geometry_displacement = float3(0.0) [[ - anno::display_name("Displacement"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniHairBase"), - anno::description("A base material for modeling a variety of hairs, furs, and fibers."), - anno::in_group("Omni Materials"), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "hair", "fur", "fiber")), - anno::thumbnail(".thumbs/OmniHairBase.png"), - anno::version(1, 0, 0, "") -]] = let { - - //Emission - uniform float emission_unit_intensity = - (emission_mode == OmniShared::emission_lx) ? - 1.0f : - math::PI; - - color emission_final_color = - emission_use_temperature ? - math::blackbody(emission_temperature): - emission_color; - - color emission_final_intensity = - emission_weight * emission_intensity * emission_unit_intensity * - emission_final_color; - - material_emission emission = material_emission( - emission: df::diffuse_edf(), - intensity: emission_final_intensity, - mode: intensity_radiant_exitance); - - //Surface - material_surface surface = material_surface( - scattering: bsdf(), - emission: emission - ); - - //Back Surface - material_surface back_surface = material_surface( - scattering: bsdf(), - emission: material_emission( - emission: edf(), - intensity: color(0.0), - mode: intensity_radiant_exitance - ) - ); - - //Geometry - material_geometry geometry = material_geometry( - displacement: geometry_displacement, - cutout_opacity: enable_opacity ? - geometry_opacity_threshold == 0.0f ? - geometry_opacity : - (geometry_opacity >= geometry_opacity_threshold ? 1.0f : 0.0f) : - 1.0f, - normal: geometry_normal - ); - - //Melanin Concentration - float melanin_concentration_value = - OmniShared::melanin_concentration_preset_to_value( - melanin_concentration_preset, - melanin_concentration); - - //! \todo: We should pass hair id. - //float random_id = 1.0f; - //float melanin_concentration_randomized_by_id = - // 2.0f * (random_id - 0.5) * melanin_concentration_randomize + 1.0f; - // - float melanin_gamma = 2.4f; - float melanin = melanin_concentration_value * melanin_concentration_value * melanin_gamma; - float eumelanin = melanin * (1.0f - melanin_redness); - float pheomelanin = melanin * melanin_redness; - color melanin_sigma_a = compute_absorption_from_melanin(eumelanin, pheomelanin); - - //Specular Reflection - float longitudinal_roughness = compute_v(specular_reflection_roughness); - - float azimuthal_roughness = - specular_reflection_anisotropic_roughness ? - compute_s(specular_reflection_azimuthal_roughness) : - longitudinal_roughness; - - float2 roughness_r = float2(longitudinal_roughness, azimuthal_roughness); - - float2 roughness_tt_multi = float2(0.6, 0.8); //based on heuristic - float2 roughness_tt = roughness_r * roughness_tt_multi; - - float2 roughness_trt_multi = float2(1.5); //based on heuristic - float2 roughness_trt = roughness_r * roughness_trt_multi; - - float cuticle_angle_in_radian = specular_reflection_shift * -0.0174533f; - - //Base Color - color base_color_sigma_a = - compute_absorption_from_color( - base_color * base_color_weight * melanin_gamma, - specular_reflection_anisotropic_roughness ? - specular_reflection_azimuthal_roughness : - longitudinal_roughness - ); - - color absorption_coefficient = - base_color == color(1.0) && base_color_weight == 1.0f ? - melanin_sigma_a : - math::lerp( - base_color_sigma_a, - melanin_sigma_a, - math::sqrt(melanin_concentration_value) - ); - - hair_bsdf hair = df::chiang_hair_bsdf( - diffuse_reflection_weight: diffuse_reflection_weight, - diffuse_reflection_tint: diffuse_reflection_color, - roughness_R: roughness_r, - roughness_TT: roughness_tt, - roughness_TRT: roughness_trt, - cuticle_angle: cuticle_angle_in_radian, - absorption_coefficient: absorption_coefficient, - ior: math::max(specular_reflection_ior, 1.0f + 1.e-5)); - -} in material( - thin_walled: true, - ior: color(1.0), - surface: surface, - backface: back_surface, - volume: material_volume(), - geometry: geometry, - hair: hair -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniImage.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniImage.mdl deleted file mode 100644 index 4edede4601ca5451d1f27033e4ae72c3d313176d..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniImage.mdl +++ /dev/null @@ -1,901 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// OmniSurface image lookup utilities - -mdl 1.7; - -import ::df::*; -import ::base::*; -import ::math::*; -import ::state::*; -import ::tex::*; -import ::limits::*; -import ::anno::*; -using ::nvidia::support_definitions import rotate_around_x; -using ::nvidia::support_definitions import rotate_around_y; -using ::nvidia::support_definitions import rotate_around_z; - - -export enum wrap_mode -[[ - anno::description("Wrap mode") -]] -{ - wrap_periodic = 0 [[ - anno::display_name("Periodic") - ]], - - wrap_black = 1 [[ - anno::display_name("Black") - ]], - - wrap_clamp = 2 [[ - anno::display_name("Clamp") - ]], - - wrap_mirror = 3 [[ - anno::display_name("Mirror") - ]], - - wrap_file = 4 [[ - anno::display_name("File") - ]], - - wrap_missing = 5 [[ - anno::display_name("Missing") - ]] -}; - - -export enum alpha_mode -[[ - anno::description("Alpha mode") -]] -{ - alpha_default = 0 [[ - anno::display_name("Default") - ]], - - alpha_red = 1 [[ - anno::display_name("Red") - ]], - - alpha_green = 2 [[ - anno::display_name("Green") - ]], - - alpha_blue = 3 [[ - anno::display_name("Blue") - ]], - - alpha_white = 4 [[ - anno::display_name("White") - ]], - - alpha_black = 5 [[ - anno::display_name("Black") - ]], - - alpha_luminance = 6 [[ - anno::display_name("Luminance") - ]], - - alpha_average = 7 [[ - anno::display_name("Average") - ]] -}; - - -export enum tangent_bitangent_mapping -[[ - anno::description("Tangent and bitangent mapping mode") -]] -{ - red_green = 1 [[ - anno::display_name("Red Green") - ]], - - blue_green = 9 [[ - anno::display_name("Red Blue") - ]] -}; - - -export enum projection_mode -[[ - anno::description("Methods for texture projection") -]] -{ - projection_cubic = 1 [[ - anno::display_name("Cubic") - ]], - - projection_spherical = 2 [[ - anno::display_name("Spherical") - ]], - - projection_cylindrical = 3 [[ - anno::display_name("Cylindrical") - ]], - - projection_infinite_cylindrical = 4 [[ - anno::display_name("Cylindrical") - ]], - - projection_planar = 5 [[ - anno::display_name("Planar") - ]], - - projection_spherical_normalized = 6 [[ - anno::display_name("Spherical Normalized") - ]], - - projection_cylindrical_normalized = 7 [[ - anno::display_name("Cylindrical Normalized") - ]], - - projection_infinite_cylindrical_normalized = 8 [[ - anno::display_name("Infinite Cylindrical Normalized") - ]], - - projection_tri_planar = 9 [[ - anno::display_name("Tri-Planar") - ]], - - projection_latitude_longitude = 10 [[ - anno::display_name("Latitude Longitude") - ]] -}; - - -export base::projection_mode to_native_projection_mode(uniform projection_mode mode) -{ - base::projection_mode native_projection_mode; - switch (mode) - { - case projection_cubic: - native_projection_mode = base::projection_cubic; - break; - - case projection_spherical: - native_projection_mode = base::projection_spherical; - break; - - case projection_cylindrical: - native_projection_mode = base::projection_cylindrical; - break; - - case projection_infinite_cylindrical: - native_projection_mode = base::projection_infinite_cylindrical; - break; - - case projection_planar: - native_projection_mode = base::projection_planar; - break; - - case projection_spherical_normalized: - native_projection_mode = base::projection_spherical_normalized; - break; - - case projection_cylindrical_normalized: - native_projection_mode = base::projection_cylindrical_normalized; - break; - - case projection_infinite_cylindrical_normalized: - native_projection_mode = base::projection_infinite_cylindrical_normalized; - break; - - case projection_tri_planar: - native_projection_mode = base::projection_tri_planar; - break; - - default: //planner - native_projection_mode = base::projection_planar; - break; - } - - return native_projection_mode; -} - - -float2 xyz_to_uv(float3 p) -{ - p = math::normalize(p); - return float2( - math::atan2(p.x, -p.z) / math::acos(-1.0) * 0.5 + 0.5, - math::asin(-p.y) / math::acos(-1.0) + 0.5); -} - - -export float3 compute_latitude_longitude_projection( - float3 pos, - uniform float3 rotation) -{ - pos = math::normalize(pos); - - //for now, a simple XYZ Euler rotation - pos = rotate_around_x(pos, rotation[0]); - pos = rotate_around_y(pos, rotation[1]); - pos = rotate_around_z(pos, -0.25 + rotation[2]); // -90 in degree - - float3 p = float3(-pos.x, pos.y, pos.z); - float3 pm = math::abs(p); - float2 seg = float2(p.z > 0.0 ? 2.0 : 0.0, 0.0); - float2 uv = float2(-p.x / p.z, -p.y / pm.z) * 0.5 + float2(0.5); - - uv = (pm.x < pm.y && pm.z < pm.y) ? - (float2(-p.x / p.y, p.z / pm.y) * 0.5 + float2(0.5)) : - uv; - - seg = (pm.x < pm.y && pm.z < pm.y) ? - float2(p.y > 0.0 ? 0.0 : 2.0, 1.0) : - seg; - - uv = (pm.x > pm.y && pm.z < pm.x) ? - ((p.x > 0.0 ? float2(p.z, -p.y) : float2(-p.y, p.z)) * 0.5 / pm.x + float2(0.5)) : - uv; - - seg = (pm.x > pm.y && pm.z < pm.x) ? - (p.x > 0.0 ? float2(1.0, 0.0) : float2(1.0)) : - seg; - - uv = float2(0.5) + math::atan((2.0 * uv - 1.0) * 0.997) * 2.0 / math::acos(-1.0); - uv = (math::frac(uv) + seg) / float2(3.0, 2.0); - - //Lat-Long projection - uv = xyz_to_uv(float3(p.x, -p.z, p.y)); - - return float3(uv[0], uv[1], pos.z); -} - - -export base::texture_coordinate_info compute_texture_coordinate_2( - uniform base::texture_coordinate_system texture_coordinate_system = base::texture_coordinate_world, - uniform int uv_set = 0, - uniform float s_offset = 0.0f, - uniform float t_offset = 0.0f, - uniform float s_scale = 1.0f, - uniform float t_scale = 1.0f, - uniform bool s_flip = false, - uniform bool t_flip = false, - uniform bool swap_st = false, - uniform projection_mode extended_projection_mode = projection_cubic, - uniform float3 projection_translate = float3(0.0), - uniform float3 projection_rotate = float3(0.0), - uniform float3 projection_scale = float3(1.0)) varying -{ - base::texture_coordinate_info texture_coordinate_info; - if (texture_coordinate_system == base::texture_coordinate_uvw) - { - texture_coordinate_info = base::coordinate_source( - base::texture_coordinate_uvw, - uv_set); - } - else - { - if (extended_projection_mode == projection_latitude_longitude) - { - texture_coordinate_info = base::coordinate_source(texture_coordinate_system, uv_set); - texture_coordinate_info.position = compute_latitude_longitude_projection( - texture_coordinate_info.position, - projection_rotate); - } - else - { - texture_coordinate_info = base::coordinate_projection( - texture_coordinate_system, - uv_set, - to_native_projection_mode(extended_projection_mode), - base::rotation_translation_scale( - projection_rotate, - projection_translate, - projection_scale)); - } - } - - //transform - float4x4 scale( - s_scale, 0.0, 0.0, 0.0, - 0.0, t_scale, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0); - - float4 position = - scale * float4( - swap_st ? - texture_coordinate_info.position.y + s_offset : - texture_coordinate_info.position.x + s_offset, - - swap_st ? - texture_coordinate_info.position.x + t_offset : - texture_coordinate_info.position.y + t_offset, - - texture_coordinate_info.position.z, - 1.0 - ); - - texture_coordinate_info.position = float3( - s_flip ? -position.x : position.x, - t_flip ? -position.y : position.y, - position.z); - - return texture_coordinate_info; -} - - -export base::texture_return texture_lookup_2( - uniform texture_2d texture = texture_2d(), - uniform bool ignore_missing_texture = false, - color missing_color = color(0.0), - uniform bool use_uv_coords = false, - float2 uv_coords = float2(0.0), - uniform wrap_mode s_wrap = wrap_periodic, - uniform wrap_mode t_wrap = wrap_periodic, - base::texture_coordinate_info texture_coordinate_info = base::texture_coordinate_info()) -{ - if ((ignore_missing_texture && tex::texture_isvalid(texture) == false) || - (tex::width(texture) == 0) || (tex::height(texture) == 0)) - { - return base::texture_return(missing_color, 0.0f); - } - - if (use_uv_coords) - { - texture_coordinate_info.position.x = uv_coords[0]; - texture_coordinate_info.position.y = uv_coords[1]; - } - - tex::wrap_mode s_wrap_native = tex::wrap_clip; - switch (s_wrap) - { - case wrap_periodic: - s_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - s_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - s_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - s_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.x < 0.0f || - texture_coordinate_info.position.x > 1.0f) - { - return base::texture_return(missing_color, 0.0f); - } - } - - tex::wrap_mode t_wrap_native = tex::wrap_clip; - switch (t_wrap) - { - case wrap_periodic: - t_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - t_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - t_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - t_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.y < 0.0f || - texture_coordinate_info.position.y > 1.0f) - { - return base::texture_return(missing_color, 0.0f); - } - } - - float4 result = tex::lookup_float4( - texture, - float2(texture_coordinate_info.position.x, texture_coordinate_info.position.y), - s_wrap_native, - t_wrap_native, - float2(0.0, 1.0), - float2(0.0, 1.0)); - - return base::texture_return( - color(result.x, result.y, result.z), - result.w); -} - - -export float3 tangent_space_normal_lookup_2( - uniform texture_2d texture = texture_2d(), - uniform bool ignore_missing_texture = false, - uniform bool use_uv_coords = false, - float2 uv_coords = float2(0.0), - uniform wrap_mode s_wrap = wrap_periodic, - uniform wrap_mode t_wrap = wrap_periodic, - uniform bool s_flip = false, - uniform bool t_flip = false, - uniform float tangent_space_factor = 1.0f, - uniform bool tangent_space_flip_r_channel = false, - uniform bool tangent_space_flip_g_channel = false, - uniform bool tangent_space_flip_b_channel = false, - base::texture_coordinate_info texture_coordinate_info = base::texture_coordinate_info()) -{ - if ((ignore_missing_texture && tex::texture_isvalid(texture) == false) || - (tex::width(texture) == 0) || (tex::height(texture) == 0)) - { - return math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal()); - } - - if (use_uv_coords) - { - texture_coordinate_info.position.x = uv_coords[0]; - texture_coordinate_info.position.y = uv_coords[1]; - } - - tex::wrap_mode s_wrap_native = tex::wrap_clip; - switch (s_wrap) - { - case wrap_periodic: - s_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - s_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - s_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - s_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.x < 0.0f || - texture_coordinate_info.position.x > 1.0f) - { - return math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal()); - } - } - - tex::wrap_mode t_wrap_native = tex::wrap_clip; - switch (t_wrap) - { - case wrap_periodic: - t_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - t_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - t_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - t_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.y < 0.0f || - texture_coordinate_info.position.y > 1.0f) - { - return math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal()); - } - } - - bool local_s_flip = s_flip; - bool local_t_flip = t_flip; - - //If mirror repeat was selected for tangent space texture, tangent space - //needs to be flipped for every other tile. Please note this is not matching - //with Arnold's aiImage but it would make sense to have like this. - if (s_wrap_native == tex::wrap_mirrored_repeat) - { - if (texture_coordinate_info.position.x > 0.0f && - int(texture_coordinate_info.position.x) % 2 == 1) - { - local_s_flip = !local_s_flip; - } - else if (texture_coordinate_info.position.x < 0.0f && - int(texture_coordinate_info.position.x) % 2 == 0) - { - local_s_flip = !local_s_flip; - } - } - - if (t_wrap_native == tex::wrap_mirrored_repeat) - { - if (texture_coordinate_info.position.y > 0.0f && - int(texture_coordinate_info.position.y) % 2 == 1) - { - local_t_flip = !local_t_flip; - } - else if (texture_coordinate_info.position.y < 0.0f && - int(texture_coordinate_info.position.y) % 2 == 0) - { - local_t_flip = !local_t_flip; - } - } - - float3 transformed_tangent_u = texture_coordinate_info.tangent_u; - float3 transformed_tangent_v = texture_coordinate_info.tangent_v; - - if (local_s_flip) - transformed_tangent_u = -transformed_tangent_u; - - if (local_t_flip) - transformed_tangent_v = -transformed_tangent_v; - - float3 result = tex::lookup_float3( - texture, - float2(texture_coordinate_info.position.x, texture_coordinate_info.position.y), - s_wrap_native, - t_wrap_native, - float2(0.0, 1.0), - float2(0.0, 1.0)); - - if (tangent_space_flip_r_channel) - result.x = 1.0f - result.x; - - if (!tangent_space_flip_g_channel) - result.y = 1.0f - result.y; - - if (tangent_space_flip_b_channel) - result.z = 1.0f - result.z; - - result = (result - float3(0.5)) * (2.0f * tangent_space_factor); - - return math::normalize( - transformed_tangent_u * result.x + - transformed_tangent_v * result.y + - state::normal() * (result.z + (1.0f - tangent_space_factor))); -} - - -export struct normal_roughness_data -{ - float3 normal; - float2 roughness; -}; - - -export float3 hemi_octahedron_to_unit_vector(float2 oct) -{ - oct = float2(oct.x + oct.y, oct.x - oct.y) * 0.5f; - float3 n = float3(oct.x, oct.y, 1.0f - math::dot(float2(1.0), math::abs(oct))); - return math::normalize(n); -} - -export normal_roughness_data tangent_space_normal_roughness_lookup_2( - uniform texture_2d texture = texture_2d(), - uniform bool ignore_missing_texture = false, - uniform bool use_uv_coords = false, - float2 uv_coords = float2(0.0), - uniform wrap_mode s_wrap = wrap_periodic, - uniform wrap_mode t_wrap = wrap_periodic, - uniform bool s_flip = false, - uniform bool t_flip = false, - uniform float tangent_space_factor = 1.0f, - uniform bool tangent_space_flip_r_channel = false, - uniform bool tangent_space_flip_g_channel = false, - uniform bool tangent_space_flip_b_channel = false, - base::texture_coordinate_info texture_coordinate_info = base::texture_coordinate_info()) -{ - if ((ignore_missing_texture && tex::texture_isvalid(texture) == false) || - (tex::width(texture) == 0) || (tex::height(texture) == 0)) - { - return normal_roughness_data( - math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal() - ), - float2(0.0) - ); - } - - if (use_uv_coords) - { - texture_coordinate_info.position.x = uv_coords[0]; - texture_coordinate_info.position.y = uv_coords[1]; - } - - tex::wrap_mode s_wrap_native = tex::wrap_clip; - switch (s_wrap) - { - case wrap_periodic: - s_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - s_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - s_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - s_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.x < 0.0f || - texture_coordinate_info.position.x > 1.0f) - { - return normal_roughness_data( - math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal() - ), - float2(0.0) - ); - } - } - - tex::wrap_mode t_wrap_native = tex::wrap_clip; - switch (t_wrap) - { - case wrap_periodic: - t_wrap_native = tex::wrap_repeat; - break; - - case wrap_black: - t_wrap_native = tex::wrap_clip; - break; - - case wrap_clamp: - t_wrap_native = tex::wrap_clamp; - break; - - case wrap_mirror: - t_wrap_native = tex::wrap_mirrored_repeat; - break; - - case wrap_file: - //Not implemented, valid only for openexr. - break; - - case wrap_missing: - if (texture_coordinate_info.position.y < 0.0f || - texture_coordinate_info.position.y > 1.0f) - { - return normal_roughness_data( - math::normalize( - texture_coordinate_info.tangent_u + - texture_coordinate_info.tangent_v + - state::normal() - ), - float2(0.0) - ); - } - } - - bool local_s_flip = s_flip; - bool local_t_flip = t_flip; - - //If mirror repeat was selected for tangent space texture, tangent space - //needs to be flipped for every other tile. Please note this is not matching - //with Arnold's aiImage but it would make sense to have like this. - if (s_wrap_native == tex::wrap_mirrored_repeat) - { - if (texture_coordinate_info.position.x > 0.0f && - int(texture_coordinate_info.position.x) % 2 == 1) - { - local_s_flip = !local_s_flip; - } - else if (texture_coordinate_info.position.x < 0.0f && - int(texture_coordinate_info.position.x) % 2 == 0) - { - local_s_flip = !local_s_flip; - } - } - - if (t_wrap_native == tex::wrap_mirrored_repeat) - { - if (texture_coordinate_info.position.y > 0.0f && - int(texture_coordinate_info.position.y) % 2 == 1) - { - local_t_flip = !local_t_flip; - } - else if (texture_coordinate_info.position.y < 0.0f && - int(texture_coordinate_info.position.y) % 2 == 0) - { - local_t_flip = !local_t_flip; - } - } - - float3 transformed_tangent_u = texture_coordinate_info.tangent_u; - float3 transformed_tangent_v = texture_coordinate_info.tangent_v; - - if (local_s_flip) - transformed_tangent_u = -transformed_tangent_u; - - if (local_t_flip) - transformed_tangent_v = -transformed_tangent_v; - - float3 tangent_space_normal; - float2 roughness; - float4 normal_raw = tex::lookup_float4( - texture, - float2(texture_coordinate_info.position.x, texture_coordinate_info.position.y), - s_wrap_native, - t_wrap_native, - float2(0.0, 1.0), - float2(0.0, 1.0), - 0.0f); - - if (tangent_space_flip_r_channel) - normal_raw.x = 1.0f - normal_raw.x; - - if (!tangent_space_flip_g_channel) - normal_raw.y = 1.0f - normal_raw.y; - - if (tangent_space_flip_b_channel) - normal_raw.z = 1.0f - normal_raw.z; - - if (normal_raw.x > 1.5f) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - tangent_space_normal = hemi_octahedron_to_unit_vector( - (float2(normal_raw.x, normal_raw.y) - float2(0.5)) * (2.0f * tangent_space_factor)); - - roughness = float2(normal_raw.z, normal_raw.w) * tangent_space_factor; - } - else - { - // regular - tangent_space_normal = - (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * (2.0f * tangent_space_factor); - - roughness = float2(0.0); - } - - return normal_roughness_data( - math::normalize( - transformed_tangent_u * tangent_space_normal.x + - transformed_tangent_v * tangent_space_normal.y + - state::normal() * (tangent_space_normal.z + (1.0f - tangent_space_factor))), - roughness - ); -} - - -export float3 normal_mapping( - varying float3 normal = float3(0.0, 0.0, 1.0), - uniform tangent_bitangent_mapping tangent_bitangent_mapping = red_green, - varying float3 normal_camera = state::normal()) varying -{ - if (math::length(normal) > 0.0f) - { - int ti = tangent_bitangent_mapping/4; - int bi = tangent_bitangent_mapping&3; - return float3(normal[ti], normal[bi], normal[3-ti-bi]); - } - - return normal_camera; -} - - -export base::texture_return texture_alpha_channel_remap_2( - base::texture_return texture_data, - uniform alpha_mode alpha_source = alpha_default -) -{ - color tint = texture_data.tint; - float3 tint3f = float3(tint); - float mono; - switch (alpha_source) - { - case alpha_default: - mono = texture_data.mono; - break; - - case alpha_red: - mono = tint3f.x; - break; - - case alpha_green: - mono = tint3f.y; - break; - - case alpha_blue: - mono = tint3f.z; - break; - - case alpha_white: - mono = 1.0f; - break; - - case alpha_black: - mono = 0.0f; - break; - - case alpha_luminance: - mono = math::luminance(tint); - break; - - case alpha_average: - mono = math::average(tint); - break; - } - - return base::texture_return(texture_data.tint, mono); -} - - -export base::texture_return texture_adjustment_2( - base::texture_return texture_data, - float exposure = 0.0f, - color default_color = color(0.5), - color color_gain = color(1.0), - color color_offset = color(0.0), - float alpha_gain = 1.0f, - float alpha_offset = 0.0f, - uniform bool invert = false, - float blend_factor = 0.0f) -{ - color tint = texture_data.tint; - float mono = texture_data.mono; - - tint = math::pow(2.0, exposure) * tint; - - if (invert) - { - tint = color(1.0) - tint; - mono = 1.0f - mono; - } - - tint = tint * color_gain + color_offset; - mono = mono * alpha_gain + alpha_offset; - - tint = math::lerp(tint, default_color, blend_factor); - mono = mono * (1.0f - blend_factor); - - return base::texture_return(tint, mono); -} \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniShared.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniShared.mdl deleted file mode 100644 index f8778f3093cea4b87e347bfe76b0fa981def9ca2..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniShared.mdl +++ /dev/null @@ -1,704 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// OmniSurface shared utilities - -mdl 1.7; - -import ::anno::*; -import ::math::*; -import ::state::*; - -export struct metal_complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -export metal_complex_ior compute_artistic_to_conductor_fresnel( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return metal_complex_ior(n, k); -} - - -export float2 compute_anisotropy(float roughness, float anisotropy) -{ - float r = math::sqrt(1.0f - math::clamp(anisotropy, 0.0f, 0.98f)); - return float2(math::min(roughness / r, 1.0f), roughness * r); -} - - -export float compute_reflection_from_ior(float ior) -{ - return ((1.0f - ior) * (1.0f - ior)) / ((1.0f + ior) * (1.0f + ior)); -} - - -export struct fresnel_reflectivity -{ - float nr; //normal reflectivity - float gr; //grazing reflectivity -}; - - -export fresnel_reflectivity approximate_fresnel(float ior, float roughness) -{ - float r = (ior - 1.0f) / (ior + 1.0f); - float nr = r * r; - float gr = math::max((1.0 - roughness), 0.0); - - return fresnel_reflectivity(nr, gr); -} - - -export float3 rotate_tangent(float3 tangent, float rotation) -{ - float rot_angle = 2.0f * math::PI * rotation; - float3 bitangent = math::normalize(math::cross(state::normal(), tangent)); - float cos_rot_angle = math::cos(rot_angle); - float sin_rot_angle = math::sin(rot_angle); - return cos_rot_angle * tangent - sin_rot_angle * bitangent; -} - - -//https://blog.selfshadow.com/publications/s2017-shading-course/imageworks/s2017_pbs_imageworks_slides_v2.pdf -//Phase function eccentricity 'g' has been omitted here since we pass that directly -//to anisotropic_vdf(directional_bias: g). -export color compute_albedo(color transmission_color) -{ - return color(4.09712) + - (4.20863f * transmission_color) - - math::sqrt( - 9.59217f + - 41.6808f * transmission_color + - 17.7126f * transmission_color * transmission_color); -} - - -export struct volume_coefficients -{ - color scattering; - color absorption; -}; - - -export volume_coefficients compute_subsurface_volume_coefficients( - color transmission_color, - color scattering_color, - float g, - float scale) -{ - color albedo = compute_albedo(transmission_color); - color alpha = - (color(1.0) - albedo * albedo) / (color(1.0) - g * (albedo * albedo)); - - color sigma_s = alpha / (scale * scattering_color); - color sigma_a = - (color(1.0) / (scale * scattering_color)) - sigma_s; - - return volume_coefficients(sigma_s, sigma_a); -} - - -export volume_coefficients compute_transmission_volume_coefficients( - color transmission_color, - color scattering_color, - float depth) -{ - if (depth == 0.0f) - return volume_coefficients(color(0.0), color(0.0)); - - color sigma_t = - math::log(transmission_color / (1.0f + math::max_value(scattering_color))) / - (-1.0f * depth); - - color albedo = compute_albedo(transmission_color * scattering_color); - color albedo_2 = albedo * albedo; - color albedo_4 = albedo_2 * albedo_2; - color sigma_a = sigma_t * albedo_4; - color sigma_s = sigma_t - sigma_a; - return volume_coefficients(sigma_s, sigma_a); -} - - -export struct scattering_colors -{ - color scattering_transmission_color; - color scattering_scattering_color; //radius, not a typo here. -}; - - -export enum scattering_colors_presets -[[ - anno::description("Scattering transmission color and radius presets") -]] -{ - scattering_colors_apple = 0 [[ - anno::display_name("Apple") - ]], - - scattering_colors_chicken = 1 [[ - anno::display_name("Chicken") - ]], - - scattering_colors_cream = 2 [[ - anno::display_name("Cream") - ]], - - scattering_colors_ketchup = 3 [[ - anno::display_name("Ketchup") - ]], - - scattering_colors_marble = 4 [[ - anno::display_name("Marble") - ]], - - scattering_colors_potato = 5 [[ - anno::display_name("Potato") - ]], - - scattering_colors_skim_milk = 6 [[ - anno::display_name("Skim Milk") - ]], - - scattering_colors_whole_milk = 7 [[ - anno::display_name("Whole Milk") - ]], - - scattering_colors_skin_1 = 8 [[ - anno::display_name("Skin 1") - ]], - - scattering_colors_skin_2 = 9 [[ - anno::display_name("Skin 2") - ]], - - scattering_colors_skin_3 = 10 [[ - anno::display_name("Skin 3") - ]], - - scattering_colors_skin_4 = 11 [[ - anno::display_name("Skin 4") - ]], - - scattering_colors_custom = 12 [[ - anno::display_name("Custom") - ]] -}; - - -// Values are from Henrik Wann Jensen, Stephen R. Marschner, Marc Levoy, and -// Pat Hanrahan. A Practical Model for Subsurface Light Transport. Proceedings -// of SIGGRAPH 2001, pages 511-518. -export scattering_colors scattering_colors_preset_to_value( - scattering_colors_presets preset, - color scattering_transmission_color = color(1.0), - color scattering_scattering_color = color(1.0)) -[[ - anno::description("Return scattering colors based on preset.") -]] -{ - if (preset == scattering_colors_apple) - return scattering_colors( - color(0.430, 0.210, 0.170), - color(11.610, 3.880, 1.750)); - - if (preset == scattering_colors_chicken) - return scattering_colors( - color(0.440, 0.220, 0.140), - color(9.440, 3.350, 1.790)); - - if (preset == scattering_colors_cream) - return scattering_colors( - color(0.990, 0.940, 0.830), - color(15.030, 4.660, 2.540)); - - if (preset == scattering_colors_ketchup) - return scattering_colors( - color(0.220, 0.010, 0.001), - color(4.760, 0.570, 0.390)); - - if (preset == scattering_colors_marble) - return scattering_colors( - color(0.930, 0.910, 0.880), - color(8.510, 5.570, 3.950)); - - if (preset == scattering_colors_potato) - return scattering_colors( - color(0.860, 0.740, 0.290), - color(14.270, 7.230, 2.040)); - - if (preset == scattering_colors_skim_milk) - return scattering_colors( - color(0.890, 0.890, 0.800), - color(18.420, 10.440, 3.500)); - - if (preset == scattering_colors_whole_milk) - return scattering_colors( - color(0.950, 0.930, 0.850), - color(10.900, 6.580, 2.510)); - - if (preset == scattering_colors_skin_1) - return scattering_colors( - color(0.570, 0.310, 0.170), - color(3.670, 1.370, 0.680)); - - if (preset == scattering_colors_skin_2) - return scattering_colors( - color(0.750, 0.570, 0.470), - color(4.820, 1.690, 1.090)); - - if (preset == scattering_colors_skin_3) - return scattering_colors( - color(0.999, 0.615, 0.521), - color(1.000, 0.300, 0.100)); - - if (preset == scattering_colors_skin_4) - return scattering_colors( - color(0.078, 0.043, 0.025), - color(0.723, 0.264, 0.127)); - - return scattering_colors( - scattering_transmission_color, - scattering_scattering_color); -} - - -export enum ior_presets -[[ - anno::description("Index of refraction preset") -]] -{ - ior_acrylic_glass = 0 [[ - anno::display_name("Acrylic Glass") - ]], - - ior_air = 1 [[ - anno::display_name("Air") - ]], - - ior_crystal = 2 [[ - anno::display_name("Crystal") - ]], - - ior_diamond = 3 [[ - anno::display_name("Diamond") - ]], - - ior_emerald = 4 [[ - anno::display_name("Emerald") - ]], - - ior_ethanol = 5 [[ - anno::display_name("Ethanol") - ]], - - ior_flint_glass = 6 [[ - anno::display_name("Flint Glass") - ]], - - ior_glass = 7 [[ - anno::display_name("Glass") - ]], - - ior_honey_21p_water = 8 [[ - anno::display_name("Honey 21% Water") - ]], - - ior_human_eye_aqueous_humor = 9 [[ - anno::display_name("Human Eye Aqueous Humor") - ]], - - ior_human_eye_cornea = 10 [[ - anno::display_name("Human Eye Cornea") - ]], - - ior_human_eye_lens = 11 [[ - anno::display_name("Human Eye Lens") - ]], - - ior_human_eye_vitreous_humor = 12 [[ - anno::display_name("Human Eye Vitreous Humor") - ]], - - ior_human_skin = 13 [[ - anno::display_name("Human Skin") - ]], - - ior_human_hair = 14 [[ - anno::display_name("Human Hair") - ]], - - ior_human_wet_hair = 15 [[ - anno::display_name("Human Wet Hair") - ]], - - ior_ice = 16 [[ - anno::display_name("Ice") - ]], - - ior_milk = 17 [[ - anno::display_name("Milk") - ]], - - ior_olive_oil = 18 [[ - anno::display_name("Olive Oil") - ]], - - ior_pearl = 19 [[ - anno::display_name("Pearl") - ]], - - ior_plastic = 20 [[ - anno::display_name("Plastic") - ]], - - ior_sapphire = 21 [[ - anno::display_name("Sapphire") - ]], - - ior_soap_bubble = 22 [[ - anno::display_name("Soap Bubble") - ]], - - ior_vacuum = 23 [[ - anno::display_name("Vacuum") - ]], - - ior_water_0c = 24 [[ - anno::display_name("Water 0C") - ]], - - ior_water_35c = 25 [[ - anno::display_name("Water 35C") - ]], - - ior_water_100c = 26 [[ - anno::display_name("Water 100C") - ]], - - ior_custom = 99 [[ - anno::display_name("Custom") - ]] -}; - - -export float ior_preset_to_value( - ior_presets preset, - uniform float custom = 1.0f) uniform -[[ - anno::description("Return ior value based on preset.") -]] -{ - if (preset == ior_acrylic_glass) - return 1.49f; - - if (preset == ior_air) - return 1.0f; - - if (preset == ior_crystal) - return 2.0f; - - if (preset == ior_diamond) - return 2.42f; - - if (preset == ior_emerald) - return 1.56f; - - if (preset == ior_ethanol) - return 1.36f; - - if (preset == ior_flint_glass) - return 1.66f; - - if (preset == ior_glass) - return 1.5f; - - if (preset == ior_honey_21p_water) - return 1.484f; - - if (preset == ior_human_eye_aqueous_humor) - return 1.33f; - - if (preset == ior_human_eye_cornea) - return 1.37f; - - if (preset == ior_human_eye_lens) - return 1.41f; - - if (preset == ior_human_eye_vitreous_humor) - return 1.34f; - - if (preset == ior_human_skin) - return 1.4f; - - if (preset == ior_human_hair) - return 1.55f; - - if (preset == ior_human_wet_hair) - return 1.85f; - - if (preset == ior_ice) - return 1.31f; - - if (preset == ior_milk) - return 1.35f; - - if (preset == ior_olive_oil) - return 1.47f; - - if (preset == ior_pearl) - return 1.53f; - - if (preset == ior_plastic) - return 1.55f; - - if (preset == ior_sapphire) - return 1.77f; - - if (preset == ior_soap_bubble) - return 1.4f; - - if (preset == ior_vacuum) - return 1.0f; - - if (preset == ior_water_0c) - return 1.333f; - - if (preset == ior_water_35c) - return 1.325f; - - if (preset == ior_water_100c) - return 1.318f; - - return custom; -} - - -float3 transform_internal_to_tangent(float3 n) -{ - return - n.x * float3( - state::texture_tangent_u(0).x, - state::texture_tangent_v(0).x, - state::normal().x) + - - n.y * float3( - state::texture_tangent_u(0).y, - state::texture_tangent_v(0).y, - state::normal().y) + - - n.z * float3( - state::texture_tangent_u(0).z, - state::texture_tangent_v(0).z, - state::normal().z); -} - - -float3 transform_tangent_to_internal(float3 n) -{ - return - state::texture_tangent_u(0) * n.x + - state::texture_tangent_v(0) * n.y + - state::normal() * n.z ; -} - - -export float3 add_detail_normal( - float3 nd = state::normal(), - float3 n = state::normal()) -{ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - - n_t = n_t + float3(0.0, 0.0, 1.0); - nd_t = nd_t * float3(-1.0, -1.0, 1.0); - - n = n_t * math::dot(n_t, nd_t) / n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - - -export enum normal_mode -[[ - anno::description("Normal Mode") -]] -{ - normal_tangent_space = 0 [[ - anno::display_name("Tangent Space") - ]], - - normal_object_space = 1 [[ - anno::display_name("Object Space") - ]] -}; - - -export enum displacement_mode -[[ - anno::description("Displacement Mode") -]] -{ - displacement_height = 0 [[ - anno::display_name("Height") - ]], - - displacement_vector_tangent_space = 1 [[ - anno::display_name("Vector, Tangent Space") - ]], - - displacement_vector_object_space = 2 [[ - anno::display_name("Vector, Object Space") - ]], - - displacement_vector_world_space = 3 [[ - anno::display_name("Vector, World Space") - ]] -}; - - -export float3 displacement_adjustment( - float3 displacement = float3(0.0), - uniform displacement_mode mode = displacement_height, - float scale = 1.0f) -{ - float3 result; - switch (mode) - { - case displacement_height: - result = state::normal() * displacement * scale; - break; - - case displacement_vector_tangent_space: - result = - state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale); - break; - - default: - result = state::position(); - break; - } - - return result; -} - - -export enum emission_mode -[[ - anno::description("Emission Mode") -]] -{ - emission_lx = 0 [[ - anno::display_name("Lux - lx (lm/m2)") - ]], - - emission_nt = 1 [[ - anno::display_name("Nit - nt (cd/m2)") - ]] -}; - - -export enum melanin_concentration_presets -[[ - anno::description("Melanin concentration presets") -]] -{ - melanin_concentration_white = 0 [[ - anno::display_name("White") - ]], - - melanin_concentration_platinum_blonde = 1 [[ - anno::display_name("Platinum Blonde") - ]], - - melanin_concentration_light_blonde = 2 [[ - anno::display_name("Light Blonde") - ]], - - melanin_concentration_blonde = 3 [[ - anno::display_name("Blonde") - ]], - - melanin_concentration_dark_blonde = 4 [[ - anno::display_name("Dark Blonde") - ]], - - melanin_concentration_dark_brown = 5 [[ - anno::display_name("Dark Brown") - ]], - - melanin_concentration_black = 6 [[ - anno::display_name("Black") - ]], - - melanin_concentration_custom = 7 [[ - anno::display_name("Custom") - ]] -}; - -export float melanin_concentration_preset_to_value( - melanin_concentration_presets preset, - float melanin_concentration_value = 1.0f) -[[ - anno::description("Return melanin concentration value based on a preset.") -]] -{ - if (preset == melanin_concentration_white) - return 0.0f; - - if (preset == melanin_concentration_platinum_blonde) - return 0.0025f; - - if (preset == melanin_concentration_light_blonde) - return 0.10f; - - if (preset == melanin_concentration_blonde) - return 0.175f; - - if (preset == melanin_concentration_dark_blonde) - return 0.30f; - - if (preset == melanin_concentration_dark_brown) - return 0.65f; - - if (preset == melanin_concentration_black) - return 1.0f; - - return melanin_concentration_value; -} diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBase.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBase.mdl deleted file mode 100644 index 89b835161feb182101314f9e70078b8c0a8dd9ac..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBase.mdl +++ /dev/null @@ -1,875 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// Implementation of OmniSurfaceBase material - -mdl 1.7; - -import ::anno::*; -import ::base::*; -import ::df::*; -import ::limits::*; -import ::math::*; -import ::state::*; -import ::tex::*; - -// Using absolute path to OmniShared library -import OmniShared::*; - -export material OmniSurfaceBase( - - //Diffuse reflection - // - float diffuse_reflection_weight = float(0.8) [[ - anno::display_name("Weight"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - color diffuse_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Base") - ]], - - float diffuse_reflection_roughness = float(0.0) [[ - anno::display_name("Diffuse Roughness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Metalness - // - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Specular reflection - // - float specular_reflection_weight = float(1.0) [[ - anno::display_name("Weight"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - color specular_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Specular") - ]], - - float specular_reflection_roughness = float(0.2) [[ - anno::display_name("Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::ior_presets specular_reflection_ior_preset = - OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Specular") - ]], - - uniform float specular_reflection_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Specular"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float specular_reflection_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - float specular_reflection_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 1.0f) - ]], - - //Specular transmission - // - uniform bool enable_specular_transmission = false [[ - anno::display_name("Enable Transmission"), - anno::description("Enables the use of transmission"), - anno::in_group("Transmission") - ]], - - float specular_transmission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0f, 1.0f) - ]], - - color specular_transmission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Transmission") - ]], - - float specular_transmission_scattering_depth = float(0.0) [[ - anno::display_name("Depth"), - anno::in_group("Transmission"), - anno::soft_range(0.0f, 100.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - - ]], - - color specular_transmission_scattering_color = color(0.0) [[ - anno::display_name("Scatter"), - anno::in_group("Transmission") - ]], - - float specular_transmission_scatter_anisotropy = float(0.0) [[ - anno::display_name("Scatter Anisotropy"), - anno::in_group("Transmission"), - anno::hard_range(-1.0f, 1.0f) - ]], - - uniform float specular_transmission_dispersion_abbe = float(0.0) [[ - anno::display_name("Dispersion Abbe"), - anno::in_group("Transmission"), - anno::soft_range(0.0f, 100.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - //Subsurface - // - uniform bool enable_diffuse_transmission = false [[ - anno::display_name("Enable Subsurface"), - anno::description("Enables the use of subsurface"), - anno::in_group("Subsurface") - ]], - - float subsurface_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Subsurface"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::scattering_colors_presets subsurface_scattering_colors_preset = - OmniShared::scattering_colors_custom [[ - anno::display_name("Scattering Presets"), - anno::in_group("Subsurface") - ]], - - color subsurface_transmission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Subsurface") - ]], - - color subsurface_scattering_color = color(1.0) [[ - anno::display_name("Radius (mfp)"), - anno::in_group("Subsurface") - ]], - - float subsurface_scale = float(1.0) [[ - anno::display_name("Scale"), - anno::in_group("Subsurface"), - anno::soft_range(0.0f, 10.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float subsurface_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Subsurface"), - anno::hard_range(-1.0f, 1.0f) - ]], - - //Coat - // - float coat_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - color coat_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Coat") - ]], - - float coat_roughness = float(0.1) [[ - anno::display_name("Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::ior_presets coat_ior_preset = - OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Coat") - ]], - - uniform float coat_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Coat"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float coat_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float coat_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f) - ]], - - float coat_affect_color = float(0.0) [[ - anno::display_name("Affect Color"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float coat_affect_roughness = float(0.0) [[ - anno::display_name("Affect Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float3 coat_normal = state::normal() [[ - anno::display_name("Normal"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - //Specular retro-reflection - // - float specular_retro_reflection_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Sheen"), - anno::hard_range(0.0f, 1.0f) - ]], - - color specular_retro_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Sheen") - ]], - - float specular_retro_reflection_roughness = float(0.3) [[ - anno::display_name("Roughness"), - anno::in_group("Sheen"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Emission - // - float emission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Emission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::emission_mode emission_mode = - OmniShared::emission_lx [[ - anno::display_name("Emission Mode"), - anno::in_group("Emission") - ]], - - float emission_intensity = float(1.0) [[ - anno::display_name("Intensity"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 1000.0f) - ]], - - color emission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Emission") - ]], - - uniform bool emission_use_temperature = false [[ - anno::display_name("Use Temperature"), - anno::in_group("Emission") - ]], - - float emission_temperature = float(6500.0) [[ - anno::display_name("Temperature (kelvin)"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 10000.0f) - ]], - - //Thin Film - // - uniform bool enable_thin_film = false [[ - anno::display_name("Enable Thin Film"), - anno::description("Enable the use of thin film"), - anno::in_group("Thin Film") - ]], - - float thin_film_thickness = float(400.0) [[ - anno::display_name("Thickness (nm)"), - anno::in_group("Thin Film"), - anno::soft_range(0.0f, 2000.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform OmniShared::ior_presets thin_film_ior_preset = - OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Thin Film") - ]], - - uniform float thin_film_ior = float(1.52) [[ - anno::display_name("IOR"), - anno::in_group("Thin Film"), - anno::soft_range(1.0f, 3.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - //Geometry - // - uniform bool thin_walled = false [[ - anno::display_name("Thin Walled"), - anno::description("Thin surface with no interior."), - anno::in_group("Geometry") - ]], - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - - uniform float geometry_normal_roughness_strength = float(1.0) [[ - anno::display_name("Geometry Normal Roughness Strength"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - float2 geometry_normal_roughness = float2(0.0) [[ - anno::display_name("Geometry Normal Roughness"), - anno::in_group("Geometry") - ]], - - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - float3 geometry_displacement = float3(0.0) [[ - anno::display_name("Displacement"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniSurfaceBase"), - anno::description("A base material for modeling a variety of surfaces."), - anno::in_group("Omni Materials", "OmniSurface"), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "surface")), - anno::thumbnail(".thumbs/OmniSurfaceBase.png"), - anno::version(1, 0, 0, "") -]] = let { - - //Constants - float epsilon = 1.e-5; - - //Thin film BRDF - float thin_film_ior_value = OmniShared::ior_preset_to_value( - thin_film_ior_preset, - thin_film_ior); - - //Coat - Dielectric microfacet BRDF - float coat_roughness_2 = coat_roughness * coat_roughness; - float2 coat_roughness_anisotropy = - coat_anisotropy != 0.0f ? - OmniShared::compute_anisotropy(coat_roughness_2, coat_anisotropy): - float2(coat_roughness_2); - - float coat_roughness_u = coat_roughness_anisotropy.x; - float coat_roughness_v = coat_roughness_anisotropy.y; - float3 coat_tangent_u = - coat_roughness_anisotropy != 0.0f ? - coat_anisotropy_rotation != 0.0f ? - OmniShared::rotate_tangent( - state::texture_tangent_u(0), - coat_anisotropy_rotation) : - state::texture_tangent_u(0) : - state::texture_tangent_u(0); - - float coat_ior_value = OmniShared::ior_preset_to_value( - coat_ior_preset, - coat_ior); - - OmniShared::fresnel_reflectivity coat_fresnel_reflectivity = - OmniShared::approximate_fresnel( - coat_ior_value, - coat_roughness_2); - - color coat_multiscatter_tint = color(0.92); //heuristic - - bsdf coat_brdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - multiscatter_tint: coat_multiscatter_tint, - tangent_u: coat_tangent_u, - mode: df::scatter_reflect); - - //Specular reflection - Dielectric microfacet BRDF - float specular_reflection_roughness_2 = - specular_reflection_roughness * specular_reflection_roughness; - - float coat_affect_roughness_coefficient = - (coat_weight * coat_roughness_2 * coat_affect_roughness); - - float specular_reflection_roughness_coefficient = - math::lerp(specular_reflection_roughness_2, 1.0f, coat_affect_roughness_coefficient); - - float2 specular_reflection_roughness_anisotropy = - specular_reflection_anisotropy != 0.0f ? - OmniShared::compute_anisotropy( - specular_reflection_roughness_coefficient, - specular_reflection_anisotropy) : - float2(specular_reflection_roughness_coefficient); - - float specular_reflection_roughness_u = - specular_reflection_roughness_anisotropy.x + - geometry_normal_roughness.x * geometry_normal_roughness.x * geometry_normal_roughness_strength; - - float specular_reflection_roughness_v = - specular_reflection_roughness_anisotropy.y + - geometry_normal_roughness.y * geometry_normal_roughness.y * geometry_normal_roughness_strength; - - float3 specular_reflection_tangent_u = - specular_reflection_roughness_anisotropy != 0.0f ? - specular_reflection_anisotropy_rotation != 0.0f ? - OmniShared::rotate_tangent( - state::texture_tangent_u(0), - specular_reflection_anisotropy_rotation) : - state::texture_tangent_u(0) : - state::texture_tangent_u(0); - - float specular_reflection_ior_value = OmniShared::ior_preset_to_value( - specular_reflection_ior_preset, - specular_reflection_ior); - - OmniShared::fresnel_reflectivity specular_reflection_fresnel_reflectivity = - OmniShared::approximate_fresnel( - specular_reflection_ior_value, - specular_reflection_roughness_2); - - color specular_reflection_multiscatter_tint = - specular_reflection_color * color(0.92); //heuristic - - bsdf specular_reflection_to_combine_with_specular_retro_reflection_brdf = - df::microfacet_ggx_smith_bsdf( - roughness_u: specular_reflection_roughness_u, - roughness_v: specular_reflection_roughness_v, - tint: specular_reflection_color, - multiscatter_tint: specular_reflection_multiscatter_tint, - tangent_u: specular_reflection_tangent_u, - mode: df::scatter_reflect); - - color specular_transmission_tint = - thin_walled || (specular_transmission_scattering_depth == 0.0f) ? - specular_transmission_color : - color(1.0); - - bsdf specular_reflection_to_combine_with_specular_transmission_base_brdf_no_film = - df::microfacet_ggx_smith_bsdf( - tint: color(1.0f), - multiscatter_tint: specular_reflection_multiscatter_tint, - roughness_u: specular_reflection_roughness_u, - roughness_v: specular_reflection_roughness_v, - tangent_u: specular_reflection_tangent_u, - mode: df::scatter_reflect_transmit); - - bsdf specular_reflection_to_combine_with_specular_transmission_base_brdf = - enable_thin_film ? - df::thin_film( - ior: color(thin_film_ior_value), - thickness: thin_film_thickness, - base: specular_reflection_to_combine_with_specular_transmission_base_brdf_no_film) : - specular_reflection_to_combine_with_specular_transmission_base_brdf_no_film; - - - bsdf specular_reflection_to_combine_with_specular_transmission_brdf = - df::tint( - reflection_tint: specular_reflection_color, - transmission_tint: specular_transmission_tint, - base: specular_reflection_to_combine_with_specular_transmission_base_brdf); - - //Metal - Conductor microfacet BRDF - float metal_roughness_u = specular_reflection_roughness_u; - float metal_roughness_v = specular_reflection_roughness_v; - float3 metal_tangent_u = specular_reflection_tangent_u; - - color metal_multiscatter_tint = color(1.0); - - bsdf metal_base_brdf = df::microfacet_ggx_smith_bsdf( - roughness_u: metal_roughness_u, - roughness_v: metal_roughness_v, - tint: color(1.0), - multiscatter_tint: metal_multiscatter_tint, - tangent_u: metal_tangent_u, - mode: df::scatter_reflect); - - color metal_base_color = diffuse_reflection_color * diffuse_reflection_weight; - color metal_edge_color = specular_reflection_color * specular_reflection_weight; - OmniShared::metal_complex_ior metal_ior = - OmniShared::compute_artistic_to_conductor_fresnel( - metal_base_color, - metal_edge_color); - - bsdf metal_brdf_fresnel_factored = df::fresnel_factor( - ior: metal_ior.n, - extinction_coefficient: metal_ior.k, - base: metal_base_brdf); - - bsdf metal_brdf = enable_thin_film ? - df::thin_film( - ior: color(thin_film_ior_value), - thickness: thin_film_thickness, - base: metal_brdf_fresnel_factored - ) : - metal_brdf_fresnel_factored; - - //Specular transmission - Dielectric microfacet BTDF - float specular_transmission_roughness_u = specular_reflection_roughness_u; - float specular_transmission_roughness_v = specular_reflection_roughness_v; - float3 specular_transmission_tangent_u = specular_reflection_tangent_u; - - float specular_transmission_ior = specular_reflection_ior_value; - color specular_transmission_ior_color = - specular_transmission_dispersion_abbe > 0.0f ? - base::abbe_number_ior(specular_transmission_ior, specular_transmission_dispersion_abbe) : - color(specular_transmission_ior); - - bsdf specular_transmission_weak_roughness_btdf = df::microfacet_ggx_smith_bsdf( - roughness_u: specular_transmission_roughness_u, - roughness_v: specular_transmission_roughness_v, - tint: specular_transmission_tint, - multiscatter_tint: color(1.0), - tangent_u: specular_transmission_tangent_u, - mode: df::scatter_transmit); //OM-27060 - - bsdf specular_transmission_strong_roughness_btdf = df::diffuse_transmission_bsdf( - tint: specular_transmission_tint); - - float specular_transmission_weak_to_strong_roughness_threshold = 0.35f; - float specular_transmission_weak_to_strong_roughness_offset = 0.35f; - - float specular_transmission_weak_to_strong_roughness_blend = - specular_reflection_roughness > specular_transmission_weak_to_strong_roughness_threshold ? - specular_reflection_roughness - specular_transmission_weak_to_strong_roughness_offset : - 0.0f; - - bsdf specular_transmission_btdf = df::weighted_layer( - weight: specular_transmission_weak_to_strong_roughness_blend, - normal: state::normal(), - base: specular_transmission_weak_roughness_btdf, - layer: specular_transmission_strong_roughness_btdf - ); - - OmniShared::volume_coefficients specular_transmission_vdf_coefficients = - OmniShared::compute_transmission_volume_coefficients( - specular_transmission_color, - specular_transmission_scattering_color, - ::state::meters_per_scene_unit() * specular_transmission_scattering_depth); - - float current_specular_transmission_weight = - enable_specular_transmission ? - specular_transmission_weight : - 0.0f; - - //Specular retro-reflection - Retro-reflective dielectric microfacet BRDF - float specular_retro_reflection_roughness_2 = - specular_retro_reflection_roughness * specular_retro_reflection_roughness; - - color specular_retro_reflection_multiscatter_tint = color(1.0); - - //bsdf specular_retro_reflection_brdf = df::sheen_bsdf( - // roughness: math::max(specular_retro_reflection_roughness_2, epsilon), - // tint: specular_retro_reflection_color, - // multiscatter_tint: specular_retro_reflection_multiscatter_tint); - - //Diffuse reflection - Diffuse microfacet BRDF - float coat_gamma = 1.0f + coat_affect_color * math::clamp(coat_weight, 0.0f, 1.0f); - color diffuse_color = - math::pow(diffuse_reflection_color * diffuse_reflection_weight, coat_gamma); - - bsdf diffuse_reflection_bsdf = df::diffuse_reflection_bsdf( - tint: diffuse_color, - roughness: diffuse_reflection_roughness); - - //Subsurface preset - OmniShared::scattering_colors scattering_colors = - OmniShared::scattering_colors_preset_to_value( - subsurface_scattering_colors_preset, - subsurface_transmission_color, - subsurface_scattering_color); - - //Diffuse transmission - Diffuse microfacet BTDF - color diffuse_transmission_color = thin_walled ? - scattering_colors.scattering_transmission_color : - color(1.0); - - bsdf diffuse_transmission_btdf = df::diffuse_transmission_bsdf( - tint: diffuse_transmission_color); - - float bounded_subsurface_scale = math::max(epsilon, subsurface_scale); - OmniShared::volume_coefficients subsurface_vdf_coefficients = - OmniShared::compute_subsurface_volume_coefficients( - scattering_colors.scattering_transmission_color, - scattering_colors.scattering_scattering_color, - subsurface_anisotropy, - ::state::meters_per_scene_unit() * bounded_subsurface_scale); - - float current_subsurface_weight = - enable_diffuse_transmission ? - subsurface_weight : - 0.0f; - - //Emission - Diffuse emission - uniform float emission_unit_intensity = - (emission_mode == OmniShared::emission_lx) ? - 1.0f : - math::PI; - - color emission_coat_affect = math::lerp(color(1.0), coat_color, coat_weight); - - color emission_final_color = - emission_use_temperature ? - math::blackbody(emission_temperature) : - emission_color; - - color emission_final_intensity = - emission_weight * emission_intensity * emission_unit_intensity * - emission_final_color * emission_coat_affect; - - material_emission emission = material_emission( - emission: - df::directional_factor( - normal_tint: math::lerp( - color(1.0), - color(1.0 - coat_fresnel_reflectivity.nr), - coat_weight - ), - grazing_tint: math::lerp( - color(1.0), - color(1.0 - coat_fresnel_reflectivity.gr), - coat_weight - ), - exponent: 4.0f, //heuristic - base: df::diffuse_edf() - ), - intensity: emission_final_intensity, - mode: intensity_radiant_exitance); - - //Layering - // - //Diffuse transmission | Diffuse reflection - bsdf diffuse_reflection_bsdf_mix = df::weighted_layer( - weight: current_subsurface_weight, - normal: geometry_normal, - base: df::weighted_layer( - weight: 1.0f, - normal: geometry_normal, - base: bsdf(), - layer: diffuse_reflection_bsdf - ), - layer: diffuse_transmission_btdf - ); - - //Diffuse reflection | Specular retro reflection - bsdf specular_retro_reflection_brdf = df::sheen_bsdf( - roughness: specular_retro_reflection_roughness_2, - tint: specular_retro_reflection_color, - multiscatter_tint: specular_retro_reflection_multiscatter_tint, - multiscatter: diffuse_reflection_bsdf_mix - ); - - bsdf specular_retro_reflection_brdf_mix = df::weighted_layer( - weight: specular_retro_reflection_weight, - normal: geometry_normal, - base: diffuse_reflection_bsdf_mix, - layer: specular_retro_reflection_brdf - ); - - //Specular retro reflection | Specular reflection - bsdf specular_reflection_with_specular_retro_reflection_brdf_mix = df::custom_curve_layer( - weight: specular_reflection_weight, - normal: geometry_normal, - normal_reflectivity: specular_reflection_fresnel_reflectivity.nr, - grazing_reflectivity: specular_reflection_fresnel_reflectivity.gr, - exponent: 4.0f, //heuristic - base: specular_retro_reflection_brdf_mix, - layer: specular_reflection_to_combine_with_specular_retro_reflection_brdf - ); - - //Specular transmission | Specular reflection - bsdf specular_reflection_with_specular_transmission_brdf_mix = df::weighted_layer( - weight: specular_reflection_weight, - normal: geometry_normal, - base: specular_transmission_btdf, - layer: specular_reflection_to_combine_with_specular_transmission_brdf - ); - - //Specular reflection with specular retro reflection | Specular reflection with specular transmission - bsdf specular_reflection_brdf_mix = df::weighted_layer( - weight: current_specular_transmission_weight, - normal: geometry_normal, - base: specular_reflection_with_specular_retro_reflection_brdf_mix, - layer: specular_reflection_with_specular_transmission_brdf_mix - ); - - //Specular reflection | Metal - bsdf metal_brdf_mix = df::weighted_layer( - weight: metalness, - normal: geometry_normal, - base: specular_reflection_brdf_mix, - layer: metal_brdf - ); - - //Metal | Coat - bsdf coat_brdf_mix = df::custom_curve_layer( - normal_reflectivity: coat_fresnel_reflectivity.nr, - grazing_reflectivity: coat_fresnel_reflectivity.gr, - weight: coat_weight, - layer: coat_brdf, - base: df::tint( - tint: math::lerp(color(1.0), coat_color, coat_weight), - base: metal_brdf_mix - ), - normal: coat_normal - ); - - //Surface - material_surface surface = material_surface( - scattering: coat_brdf_mix, - emission: emission - ); - - //Back Surface - material_surface back_surface = material_surface( - scattering: bsdf(), - emission: material_emission( - emission: edf(), - intensity: color(0.0), - mode: intensity_radiant_exitance - ) - ); - - //Volume - float specular_transmission_scatter_anisotropy_lower_bound = -0.99f; //heuristic, to avoid artifacts - float subsurface_anisotropy_upper_bound = 0.99f; //heuristic, to avoid artifacts - float volume_directional_bias_mix = - thin_walled || - (current_specular_transmission_weight == 0.0f && current_subsurface_weight == 0.0f) ? - 0.0f : - math::lerp( - math::min( - subsurface_anisotropy_upper_bound, - subsurface_anisotropy - ) * current_subsurface_weight, - math::max( - specular_transmission_scatter_anisotropy_lower_bound, - specular_transmission_scatter_anisotropy - ), - current_specular_transmission_weight - ); - - vdf volume_vdf_mix = df::anisotropic_vdf( - directional_bias: volume_directional_bias_mix - ); - - color volume_scattering_coefficient_mix = - (current_specular_transmission_weight == 0.0f && current_subsurface_weight == 0.0f) ? - color() : - math::lerp( - subsurface_vdf_coefficients.scattering * current_subsurface_weight, - specular_transmission_vdf_coefficients.scattering, - current_specular_transmission_weight - ); - - color volume_absorption_coefficient_mix = - (current_specular_transmission_weight == 0.0f && current_subsurface_weight == 0.0f) ? - color() : - math::lerp( - subsurface_vdf_coefficients.absorption * current_subsurface_weight, - specular_transmission_vdf_coefficients.absorption, - current_specular_transmission_weight - ); - - material_volume volume = - material_volume( - scattering: volume_vdf_mix, - scattering_coefficient: - thin_walled ? - color(0.0) : - volume_scattering_coefficient_mix, - - absorption_coefficient: - thin_walled ? - color(0.0) : - volume_absorption_coefficient_mix - ); - - //Geometry - material_geometry geometry = material_geometry( - displacement: geometry_displacement, - cutout_opacity: enable_opacity ? - geometry_opacity_threshold == 0.0f ? - geometry_opacity : - (geometry_opacity >= geometry_opacity_threshold ? 1.0f : 0.0f) : - 1.0f, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ) - ); - -} in material( - thin_walled: thin_walled, - ior: specular_transmission_ior_color, - surface: surface, - backface: back_surface, - volume: volume, - geometry: geometry -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBlendBase.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBlendBase.mdl deleted file mode 100644 index c57138e5d4cb7c0d30a21b946be7386557370ec4..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceBlendBase.mdl +++ /dev/null @@ -1,217 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// Implementation of OmniSurfaceBlendBase material - -mdl 1.7; - -import ::anno::*; -import ::base::*; -import ::df::*; -import ::limits::*; -import ::math::*; -import ::state::*; -import ::tex::*; - -import OmniShared::*; -import OmniImage::*; - -export material OmniSurfaceBlendBase( - - //Materials - // - material base_material = material() [[ - anno::display_name("Base Material"), - anno::in_group("Materials") - ]], - - material blend_material = material() [[ - anno::display_name("Blend Material"), - anno::in_group("Materials") - ]], - - float blend_weight = float(1.0) [[ - anno::display_name("Weight"), - anno::in_group("Blending"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Geometry - // - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]] -) -[[ - anno::display_name("OmniSurfaceBlendBase"), - anno::description("Blend two materials."), - anno::in_group("Omni Materials", "OmniSurface"), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "utilities")), - anno::thumbnail(".thumbs/OmniSurfaceBlendBase.png"), - anno::version(1, 0, 0, "") - -]] = let { - - //Emission - // - edf emission_edf_mix = df::normalized_mix( - components: df::edf_component[]( - df::edf_component( - weight: (1.0 - blend_weight), - component: base_material.surface.emission.emission - ), - df::edf_component( - weight: blend_weight, - component: blend_material.surface.emission.emission - ) - ) - ); - - material_emission emission_mix = material_emission( - emission: emission_edf_mix, - intensity: base::blend_color_layers( - base: base_material.surface.emission.intensity, - layers: base::color_layer[]( - base::color_layer( - layer_color: blend_material.surface.emission.intensity, - weight: blend_weight, - mode: base::color_layer_blend - ) - ) - ).tint, - mode: intensity_radiant_exitance - ); - - //Surface - // - bsdf surface_bsdf_mix = df::weighted_layer( - weight: blend_weight, - base: base_material.surface.scattering, - layer: blend_material.surface.scattering - ); - - material_surface surface = material_surface( - scattering: surface_bsdf_mix, - emission: emission_mix - ); - - //Back Surface - material_surface back_surface = material_surface( - scattering: bsdf(), - emission: material_emission( - emission: edf(), - intensity: color(0.0), - mode: intensity_radiant_exitance - ) - ); - - //Volume - // - vdf volume_vdf_mix = df::normalized_mix( - components: df::vdf_component[]( - df::vdf_component( - weight: (1.0 - blend_weight), - component: base_material.volume.scattering - ), - - df::vdf_component( - weight: blend_weight, - component: blend_material.volume.scattering - ) - ) - ); - - color volume_scattering_coefficient_mix = base::blend_color_layers( - base: base_material.volume.scattering_coefficient, - layers: base::color_layer[]( - base::color_layer( - layer_color: blend_material.volume.scattering_coefficient, - weight: blend_weight, - mode: base::color_layer_blend - ) - ) - ).tint; - - color volume_absorption_coefficient_mix = base::blend_color_layers( - base: base_material.volume.absorption_coefficient, - layers: base::color_layer[]( - base::color_layer( - layer_color: blend_material.volume.absorption_coefficient, - weight: blend_weight, - mode: base::color_layer_blend - ) - ) - ).tint; - - material_volume volume = (base_material.thin_walled || blend_material.thin_walled) ? - material_volume() : - material_volume( - scattering: volume_vdf_mix, - scattering_coefficient: volume_scattering_coefficient_mix, - absorption_coefficient: volume_absorption_coefficient_mix - ); - - //Geometry - // - color base_material_displacement(base_material.geometry.displacement); - color blend_material_displacement(blend_material.geometry.displacement); - color displacement_blend_as_color = base::blend_color_layers( - base: base_material_displacement, - layers: base::color_layer[]( - base::color_layer( - layer_color: blend_material_displacement, - weight: blend_weight, - mode: base::color_layer_blend - ) - ) - ).tint; - float3 displacement_blend(displacement_blend_as_color); - - color base_material_cutout_opacity(base_material.geometry.cutout_opacity); - color blend_material_cutout_opacity(blend_material.geometry.cutout_opacity); - float cutout_opacity_blend = base::blend_color_layers( - base: base_material_cutout_opacity, - layers: base::color_layer[]( - base::color_layer( - layer_color: blend_material_cutout_opacity, - weight: blend_weight, - mode: base::color_layer_blend - ) - ) - ).mono; - - float3 normal_blend = OmniShared::add_detail_normal( - base_material.geometry.normal, - blend_material.geometry.normal - ); - - material_geometry geometry = material_geometry( - displacement: displacement_blend, - cutout_opacity: enable_opacity ? - geometry_opacity_threshold == 0.0f ? - cutout_opacity_blend : - (cutout_opacity_blend >= geometry_opacity_threshold ? 1.0f : 0.0f) : - 1.0f, - normal: normal_blend - ); - -} in material( - thin_walled: (base_material.thin_walled || blend_material.thin_walled), - ior: base_material.ior, - surface: surface, - backface: back_surface, - volume: volume, - geometry: geometry -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceLiteBase.mdl b/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceLiteBase.mdl deleted file mode 100644 index 55feec3b9c942bc323183e570ccb764de9277a2b..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurface/OmniSurfaceLiteBase.mdl +++ /dev/null @@ -1,484 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -// Implementation of OmniSurfaceLiteBase material - -mdl 1.7; - -import ::anno::*; -import ::base::*; -import ::df::*; -import ::limits::*; -import ::math::*; -import ::state::*; -import ::tex::*; - -import OmniShared::*; - -export material OmniSurfaceLiteBase( - - //Diffuse reflection - // - float diffuse_reflection_weight = float(0.8) [[ - anno::display_name("Weight"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - color diffuse_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Base") - ]], - - float diffuse_reflection_roughness = float(0.0) [[ - anno::display_name("Diffuse Roughness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Metalness - // - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - //Specular reflection - // - float specular_reflection_weight = float(1.0) [[ - anno::display_name("Weight"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - color specular_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Specular") - ]], - - float specular_reflection_roughness = float(0.2) [[ - anno::display_name("Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::ior_presets specular_reflection_ior_preset = - OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Specular") - ]], - - uniform float specular_reflection_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Specular"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float specular_reflection_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - float specular_reflection_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 1.0f) - ]], - - //Coat - // - float coat_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - color coat_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Coat") - ]], - - float coat_roughness = float(0.1) [[ - anno::display_name("Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::ior_presets coat_ior_preset = - OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Coat") - ]], - - uniform float coat_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Coat"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(1.0f, limits::FLOAT_MAX) - ]], - - float coat_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float coat_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f) - ]], - - float coat_affect_color = float(0.0) [[ - anno::display_name("Affect Color"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float coat_affect_roughness = float(0.0) [[ - anno::display_name("Affect Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - float3 coat_normal = state::normal() [[ - anno::display_name("Normal"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - //Emission - // - float emission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Emission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform OmniShared::emission_mode emission_mode = - OmniShared::emission_lx [[ - anno::display_name("Emission Mode"), - anno::in_group("Emission") - ]], - - float emission_intensity = float(1.0) [[ - anno::display_name("Intensity"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 1000.0f) - ]], - - color emission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Emission") - ]], - - uniform bool emission_use_temperature = false [[ - anno::display_name("Use Temperature"), - anno::in_group("Emission") - ]], - - float emission_temperature = float(6500.0) [[ - anno::display_name("Temperature (kelvin)"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 10000.0f) - ]], - - //Geometry - // - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float geometry_normal_roughness_strength = float(1.0) [[ - anno::display_name("Geometry Normal Roughness Strength"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - float2 geometry_normal_roughness = float2(0.0) [[ - anno::display_name("Geometry Normal Roughness"), - anno::in_group("Geometry") - ]], - - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - float3 geometry_displacement = float3(0.0) [[ - anno::display_name("Displacement"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniSurfaceLiteBase"), - anno::description("A base material for modeling a variety of surfaces."), - anno::in_group("Omni Materials", "OmniSurface"), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "surface")), - anno::thumbnail(".thumbs/OmniSurfaceLiteBase.png"), - anno::version(1, 0, 0, "") - -]] = let { - - //Coat - Dielectric microfacet BRDF - float coat_roughness_2 = coat_roughness * coat_roughness; - float2 coat_roughness_anisotropy = - coat_anisotropy != 0.0f ? - OmniShared::compute_anisotropy(coat_roughness_2, coat_anisotropy): - float2(coat_roughness_2); - - float coat_roughness_u = coat_roughness_anisotropy.x; - float coat_roughness_v = coat_roughness_anisotropy.y; - float3 coat_tangent_u = - coat_roughness_anisotropy != 0.0f ? - coat_anisotropy_rotation != 0.0f ? - OmniShared::rotate_tangent( - state::texture_tangent_u(0), - coat_anisotropy_rotation): - state::texture_tangent_u(0): - state::texture_tangent_u(0); - - float coat_ior_value = OmniShared::ior_preset_to_value( - coat_ior_preset, - coat_ior); - - OmniShared::fresnel_reflectivity coat_fresnel_reflectivity = - OmniShared::approximate_fresnel( - coat_ior_value, - coat_roughness_2); - - color coat_multiscatter_tint = color(0.92); //heuristic - - bsdf coat_brdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - multiscatter_tint: coat_multiscatter_tint, - tangent_u: coat_tangent_u, - mode: df::scatter_reflect); - - //Specular reflection - Dielectric microfacet BRDF - float specular_reflection_roughness_2 = - specular_reflection_roughness * specular_reflection_roughness; - - float coat_affect_roughness_coefficient = - (coat_weight * coat_roughness_2 * coat_affect_roughness); - - float specular_reflection_roughness_coefficient = - math::lerp(specular_reflection_roughness_2, 1.0f, coat_affect_roughness_coefficient); - - float2 specular_reflection_roughness_anisotropy = - specular_reflection_anisotropy != 0.0f ? - OmniShared::compute_anisotropy( - specular_reflection_roughness_coefficient, - specular_reflection_anisotropy): - float2(specular_reflection_roughness_coefficient); - - float specular_reflection_roughness_u = - specular_reflection_roughness_anisotropy.x + - geometry_normal_roughness.x * geometry_normal_roughness.x * geometry_normal_roughness_strength; - - float specular_reflection_roughness_v = - specular_reflection_roughness_anisotropy.y + - geometry_normal_roughness.y * geometry_normal_roughness.y * geometry_normal_roughness_strength; - - float3 specular_reflection_tangent_u = - specular_reflection_roughness_anisotropy != 0.0f ? - specular_reflection_anisotropy_rotation != 0.0f ? - OmniShared::rotate_tangent( - state::texture_tangent_u(0), - specular_reflection_anisotropy_rotation): - state::texture_tangent_u(0): - state::texture_tangent_u(0); - - float specular_reflection_ior_value = OmniShared::ior_preset_to_value( - specular_reflection_ior_preset, - specular_reflection_ior); - - OmniShared::fresnel_reflectivity specular_reflection_fresnel_reflectivity = - OmniShared::approximate_fresnel( - specular_reflection_ior_value, - specular_reflection_roughness_2); - - color specular_reflection_multiscatter_tint = - specular_reflection_color * color(0.92); //heuristic - - bsdf specular_reflection_brdf = df::microfacet_ggx_smith_bsdf( - roughness_u: specular_reflection_roughness_u, - roughness_v: specular_reflection_roughness_v, - tint: specular_reflection_color, - multiscatter_tint: specular_reflection_multiscatter_tint, - tangent_u: specular_reflection_tangent_u, - mode: df::scatter_reflect); - - //Metal - Conductor microfacet BRDF - float metal_roughness_u = specular_reflection_roughness_u; - float metal_roughness_v = specular_reflection_roughness_v; - float3 metal_tangent_u = specular_reflection_tangent_u; - - color metal_multiscatter_tint = color(1.0); - - bsdf metal_base_brdf = df::microfacet_ggx_smith_bsdf( - roughness_u: metal_roughness_u, - roughness_v: metal_roughness_v, - tint: color(1.0), - multiscatter_tint: metal_multiscatter_tint, - tangent_u: metal_tangent_u, - mode: df::scatter_reflect); - - color metal_base_color = diffuse_reflection_color * diffuse_reflection_weight; - color metal_edge_color = specular_reflection_color * specular_reflection_weight; - OmniShared::metal_complex_ior metal_ior = - OmniShared::compute_artistic_to_conductor_fresnel( - metal_base_color, - metal_edge_color); - - bsdf metal_brdf = df::fresnel_factor( - ior: metal_ior.n, - extinction_coefficient: metal_ior.k, - base: metal_base_brdf); - - //Diffuse reflection - Diffuse microfacet BRDF - float coat_gamma = 1.0f + coat_affect_color * math::clamp(coat_weight, 0.0f, 1.0f); - color diffuse_color = - math::pow(diffuse_reflection_color * diffuse_reflection_weight, coat_gamma); - - bsdf diffuse_reflection_bsdf = df::diffuse_reflection_bsdf( - tint: diffuse_color, - roughness: diffuse_reflection_roughness); - - //Emission - Diffuse emission - uniform float emission_unit_intensity = - (emission_mode == OmniShared::emission_lx) ? - 1.0f : - math::PI; - - color emission_coat_affect = math::lerp(color(1.0), coat_color, coat_weight); - - color emission_final_color = - emission_use_temperature ? - math::blackbody(emission_temperature): - emission_color; - - color emission_final_intensity = - emission_weight * emission_intensity * emission_unit_intensity * - emission_final_color * emission_coat_affect; - - material_emission emission = material_emission( - emission: - df::directional_factor( - normal_tint: math::lerp( - color(1.0), - color(1.0 - coat_fresnel_reflectivity.nr), - coat_weight - ), - grazing_tint: math::lerp( - color(1.0), - color(1.0 - coat_fresnel_reflectivity.gr), - coat_weight - ), - exponent: 4.0f, //heuristic - base: df::diffuse_edf() - ), - intensity: emission_final_intensity, - mode: intensity_radiant_exitance); - - //Layering - // - //Diffuse reflection | Specular reflection - bsdf specular_reflection_brdf_mix = df::custom_curve_layer( - weight: specular_reflection_weight, - normal: geometry_normal, - normal_reflectivity: specular_reflection_fresnel_reflectivity.nr, - grazing_reflectivity: specular_reflection_fresnel_reflectivity.gr, - exponent: 4.0f, //heuristic - base: df::weighted_layer( - weight: 1.0f, - normal: geometry_normal, - base: bsdf(), - layer: diffuse_reflection_bsdf - ), - layer: specular_reflection_brdf - ); - - //Specular reflection | Metal - bsdf metal_brdf_mix = df::weighted_layer( - weight: metalness, - normal: geometry_normal, - base: specular_reflection_brdf_mix, - layer: metal_brdf - ); - - //Metal | Coat - bsdf coat_brdf_mix = df::custom_curve_layer( - normal_reflectivity: coat_fresnel_reflectivity.nr, - grazing_reflectivity: coat_fresnel_reflectivity.gr, - weight: coat_weight, - layer: coat_brdf, - base: df::tint( - tint: math::lerp(color(1.0), coat_color, coat_weight), - base: metal_brdf_mix - ), - normal: coat_normal - ); - - //Surface - material_surface surface = material_surface( - scattering: coat_brdf_mix, - emission: emission - ); - - //Back Surface - material_surface back_surface = material_surface( - scattering: bsdf(), - emission: material_emission( - emission: edf(), - intensity: color(0.0), - mode: intensity_radiant_exitance - ) - ); - - //Volume - material_volume volume = material_volume(); - - //Geometry - material_geometry geometry = material_geometry( - displacement: geometry_displacement, - cutout_opacity: enable_opacity ? - geometry_opacity_threshold == 0.0f ? - geometry_opacity : - (geometry_opacity >= geometry_opacity_threshold ? 1.0f : 0.0f) : - 1.0f, - normal: state::normal() - ); - -} in material( - thin_walled: false, - ior: color(1.0f), - surface: surface, - backface: back_surface, - volume: volume, - geometry: geometry -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurfaceLite.mdl b/unitree_z1/materials/mdl/OmniSurfaceLite.mdl deleted file mode 100644 index a0d74fae12413f8deaad1d37240969c1c9eb4a3a..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurfaceLite.mdl +++ /dev/null @@ -1,1164 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// Wrapper for OmniSurfaceLiteBase material - -mdl 1.7; - -import ::anno::*; -import ::base::*; -import ::limits::*; -import ::state::*; -import ::tex::*; - -import OmniSurface::OmniSurfaceLiteBase::*; -import OmniSurface::OmniShared::*; -import OmniSurface::OmniImage::*; - -export material OmniSurfaceLite( - - //Diffuse reflection - // - float diffuse_reflection_weight = float(0.8) [[ - anno::display_name("Weight"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d diffuse_reflection_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Base"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. -]], - - uniform OmniSurface::OmniImage::alpha_mode diffuse_reflection_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Base") - ]], - - color diffuse_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Base") - ]], - - uniform texture_2d diffuse_reflection_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Base") - ]], - - float diffuse_reflection_roughness = float(0.0) [[ - anno::display_name("Diffuse Roughness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d diffuse_reflection_roughness_image = texture_2d() [[ - anno::display_name("Diffuse Roughness Image"), - anno::in_group("Base"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode diffuse_reflection_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Diffuse Roughness Alpha Mode"), - anno::in_group("Base") - ]], - - //Metal - // - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::in_group("Base"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d metalness_image = texture_2d() [[ - anno::display_name("Metalness Image"), - anno::in_group("Base"), - anno::usage("metalness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode metalness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Metalness Image Alpha Mode"), - anno::in_group("Base") - ]], - - //Specular reflection - // - float specular_reflection_weight = float(1.0) [[ - anno::display_name("Weight"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Specular"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Specular") - ]], - - color specular_reflection_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Specular") - ]], - - uniform texture_2d specular_reflection_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Specular") - ]], - - float specular_reflection_roughness = float(0.2) [[ - anno::display_name("Roughness"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_roughness_image = texture_2d() [[ - anno::display_name("Roughness Image"), - anno::in_group("Specular"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Roughness Image Alpha Mode"), - anno::in_group("Specular") - ]], - - uniform OmniSurface::OmniShared::ior_presets specular_reflection_ior_preset = - OmniSurface::OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Specular") - ]], - - uniform float specular_reflection_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Specular"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float specular_reflection_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Specular"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_anisotropy_image = texture_2d() [[ - anno::display_name("Anisotropy Image"), - anno::in_group("Specular"), - anno::usage("aniotropy") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Image Alpha Mode"), - anno::in_group("Specular") - ]], - - float specular_reflection_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Specular"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d specular_reflection_anisotropy_rotation_image = texture_2d() [[ - anno::display_name("Anisotropy Rotation Image"), - anno::in_group("Specular"), - anno::usage("anisotropy_rotation") - ]], - - uniform OmniSurface::OmniImage::alpha_mode specular_reflection_anisotropy_rotation_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Rotation Alpha Mode"), - anno::in_group("Specular") - ]], - - //Coat - // - float coat_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Coat"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Coat") - ]], - - color coat_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Coat") - ]], - - uniform texture_2d coat_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Coat") - ]], - - float coat_roughness = float(0.1) [[ - anno::display_name("Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_roughness_image = texture_2d() [[ - anno::display_name("Roughness Image"), - anno::in_group("Coat"), - anno::usage("roughness") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Roughness Image Alpha Mode"), - anno::in_group("Coat") - ]], - - uniform OmniSurface::OmniShared::ior_presets coat_ior_preset = - OmniSurface::OmniShared::ior_custom [[ - anno::display_name("IOR Preset"), - anno::in_group("Coat") - ]], - - uniform float coat_ior = float(1.5) [[ - anno::display_name("IOR"), - anno::in_group("Coat"), - anno::soft_range(1.0f, 5.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float coat_anisotropy = float(0.0) [[ - anno::display_name("Anisotropy"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_anisotropy_image = texture_2d() [[ - anno::display_name("Anisotropy Image"), - anno::in_group("Coat"), - anno::usage("anisotropy") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_anisotropy_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_anisotropy_rotation = float(0.0) [[ - anno::display_name("Rotation (radian)"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_anisotropy_rotation_image = texture_2d() [[ - anno::display_name("Anisotropy Rotation Image"), - anno::in_group("Coat"), - anno::usage("anistropy_rotation") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_anisotropy_rotation_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Anisotropy Rotation Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_affect_color = float(0.0) [[ - anno::display_name("Affect Color"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_affect_color_image = texture_2d() [[ - anno::display_name("Affect Color Image"), - anno::in_group("Coat") - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_affect_color_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Affect Color Image Alpha Mode"), - anno::in_group("Coat") - ]], - - float coat_affect_roughness = float(0.0) [[ - anno::display_name("Affect Roughness"), - anno::in_group("Coat"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d coat_affect_roughness_image = texture_2d() [[ - anno::display_name("Affect Roughness Image"), - anno::in_group("Coat"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode coat_affect_roughness_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Affect Roughness Alpha Mode"), - anno::in_group("Coat") - ]], - - uniform float coat_normal_strength = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::in_group("Coat"), - anno::soft_range(0.0f, 1.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - float3 coat_normal = state::normal() [[ - anno::display_name("Normal"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - uniform texture_2d coat_normal_image = texture_2d() [[ - anno::display_name("Normal Map Image"), - anno::in_group("Coat"), - anno::usage("normal") - ]], - - uniform bool coat_normal_image_flip_r_channel = false [[ - anno::display_name("Normal Map Flip R Channel"), - anno::in_group("Coat") - ]], - - uniform bool coat_normal_image_flip_g_channel = false [[ - anno::display_name("Normal Map Flip G Channel"), - anno::in_group("Coat") - ]], - - uniform bool coat_normal_image_flip_b_channel = false [[ - anno::display_name("Normal Map Flip B Channel"), - anno::in_group("Coat") - ]], - - //Emission - // - float emission_weight = float(0.0) [[ - anno::display_name("Weight"), - anno::in_group("Emission"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d emission_weight_image = texture_2d() [[ - anno::display_name("Weight Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_weight_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Weight Image Alpha Mode"), - anno::in_group("Emission") - ]], - - uniform OmniSurface::OmniShared::emission_mode emission_mode = - OmniSurface::OmniShared::emission_lx - [[ - anno::display_name("Emission Mode"), - anno::in_group("Emission") - ]], - - float emission_intensity = float(1.0) [[ - anno::display_name("Intensity"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 1000.0f) - ]], - - uniform texture_2d emission_intensity_image = texture_2d() [[ - anno::display_name("Intensity Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_intensity_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Intensity Image Alpha Mode"), - anno::in_group("Emission") - ]], - - color emission_color = color(1.0) [[ - anno::display_name("Color"), - anno::in_group("Emission") - ]], - - uniform texture_2d emission_color_image = texture_2d() [[ - anno::display_name("Color Image"), - anno::in_group("Emission") - ]], - - uniform bool emission_use_temperature = false [[ - anno::display_name("Use Temperature"), - anno::in_group("Emission") - ]], - - float emission_temperature = float(6500.0) [[ - anno::display_name("Temperature (kelvin)"), - anno::in_group("Emission"), - anno::soft_range(0.0f, 10000.0f) - ]], - - uniform texture_2d emission_temperature_image = texture_2d() [[ - anno::display_name("Temperature Image"), - anno::in_group("Emission"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode emission_temperature_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Temperature Image Alpha Mode"), - anno::in_group("Emission") - ]], - - //Geometry - // - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Geometry") - ]], - - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform texture_2d geometry_opacity_image = texture_2d() [[ - anno::display_name("Opacity Image"), - anno::in_group("Geometry"), - anno::usage("opacity") - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_opacity_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Opacity Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - uniform float geometry_opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - uniform float geometry_normal_strength = float(1.0) [[ - anno::display_name("Geometry Normal Strength"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f), - anno::hard_range(0.0f, limits::FLOAT_MAX) - ]], - - uniform float geometry_normal_roughness_strength = float(1.0) [[ - anno::display_name("Geometry Normal Roughness Strength"), - anno::in_group("Geometry"), - anno::hard_range(0.0f, 1.0f) - ]], - - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - uniform texture_2d geometry_normal_image = texture_2d() [[ - anno::display_name("Geometry Normal Map Image"), - anno::in_group("Geometry"), - anno::usage("normal") - ]], - - uniform bool geometry_normal_image_flip_r_channel = false [[ - anno::display_name("Normal Map Flip R Channel"), - anno::in_group("Geometry") - ]], - - uniform bool geometry_normal_image_flip_g_channel = false [[ - anno::display_name("Normal Map Flip G Channel"), - anno::in_group("Geometry") - ]], - - uniform bool geometry_normal_image_flip_b_channel = false [[ - anno::display_name("Normal Map Flip B Channel"), - anno::in_group("Geometry") - ]], - - uniform OmniSurface::OmniImage::tangent_bitangent_mapping geometry_tangent_bitangent_mapping = - OmniSurface::OmniImage::red_green [[ - anno::display_name("Tangent Bitangent Mapping"), - anno::in_group("Geometry") - ]], - - //Displacement - float3 geometry_displacement = float3(0.0) [[ - anno::display_name("Displacement"), - anno::in_group("Geometry") - ]], - - uniform OmniSurface::OmniShared::displacement_mode geometry_displacement_mode = - OmniSurface::OmniShared::displacement_height [[ - anno::display_name("Displacement Mode"), - anno::in_group("Geometry") - ]], - - uniform texture_2d geometry_displacement_image = texture_2d() [[ - anno::display_name("Displacement Image"), - anno::in_group("Geometry"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_displacement_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Displacement Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - float geometry_displacement_scale = float(1.0) [[ - anno::display_name("Displacement Scale"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f) - ]], - - uniform texture_2d geometry_displacement_scale_image = texture_2d() [[ - anno::display_name("Displacement Scale Image"), - anno::in_group("Geometry"), - anno::usage("occlusion") // Don't have usage type for scalar maps. Substituting for now. - ]], - - uniform OmniSurface::OmniImage::alpha_mode geometry_displacement_scale_image_alpha_mode = - OmniSurface::OmniImage::alpha_default [[ - anno::display_name("Displacement Scale Image Alpha Mode"), - anno::in_group("Geometry") - ]], - - float geometry_displacement_scalar_zero_value = float(0.0) [[ - anno::display_name("Displacement Scalar Zero Value"), - anno::in_group("Geometry"), - anno::soft_range(0.0f, 1.0f) - ]], - - //UVW - // - uniform base::texture_coordinate_system uvw_texture_coordinate_system = - base::texture_coordinate_uvw [[ - anno::display_name("Texture Coordinate"), - anno::in_group("UVW Coordinates") - ]], - - uniform int uvw_uv_set = 0 [[ - anno::display_name("UV Set"), - anno::in_group("UVW Coordinates"), - anno::hard_range(0, 4) - ]], - - uniform bool uvw_ignore_missing_textures = false [[ - anno::display_name("Ignore Missing Images"), - anno::in_group("UVW Coordinates") - ]], - - color uvw_missing_texture_color = color(0.0, 0.0, 0.0) [[ - anno::display_name("Missing Image Color"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_use_uv_coords = false [[ - anno::display_name("Use UV Coords"), - anno::in_group("UVW Coordinates") - ]], - - float2 uvw_uv_coords = float2(0.0) [[ - anno::display_name("UV Coords"), - anno::in_group("UVW Coordinates") - ]], - - uniform float uvw_s_offset = 0.0f [[ - anno::display_name("Offset U"), - anno::in_group("UVW Coordinates"), - anno::soft_range(-1.0f, 1.0f) - ]], - - uniform float uvw_t_offset = 0.0f [[ - anno::display_name("Offset V"), - anno::in_group("UVW Coordinates"), - anno::soft_range(-1.0f, 1.0f) - ]], - - uniform OmniSurface::OmniImage::wrap_mode uvw_s_wrap = - OmniSurface::OmniImage::wrap_periodic [[ - anno::display_name("Wrap U"), - anno::in_group("UVW Coordinates") - ]], - - uniform OmniSurface::OmniImage::wrap_mode uvw_t_wrap = - OmniSurface::OmniImage::wrap_periodic [[ - anno::display_name("Wrap V"), - anno::in_group("UVW Coordinates") - ]], - - uniform float uvw_s_scale = 1.0f [[ - anno::display_name("Scale U"), - anno::in_group("UVW Coordinates"), - anno::soft_range(0.0f, 100.0f) - ]], - - uniform float uvw_t_scale = 1.0f [[ - anno::display_name("Scale V"), - anno::in_group("UVW Coordinates"), - anno::soft_range(0.0f, 100.0f) - ]], - - uniform bool uvw_s_flip = false [[ - anno::display_name("Flip U"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_t_flip = false [[ - anno::display_name("Flip V"), - anno::in_group("UVW Coordinates") - ]], - - uniform bool uvw_swap_st = false [[ - anno::display_name("Swap UV"), - anno::in_group("UVW Coordinates") - ]], - - //Projection Coordinates (Local / World) - uniform OmniSurface::OmniImage::projection_mode uvw_projection_mode = - OmniSurface::OmniImage::projection_cubic [[ - anno::display_name("Projection Mode"), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_translate = float3(0.0) [[ - anno::display_name("Translate"), - anno::description("Translate the projected texture."), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_rotate = float3(0.0) [[ - anno::display_name("Rotate"), - anno::description("Rotate the projected texture."), - anno::in_group("UVW Coordinates") - ]], - - uniform float3 uvw_projection_scale = float3(1.0) [[ - anno::display_name("Scale"), - anno::description("Scale the projected texture."), - anno::in_group("UVW Coordinates") - ]] -) -[[ - anno::display_name("OmniSurfaceLite"), - anno::description("A base material for modeling a variety of surfaces."), - anno::author("NVIDIA Corporation"), - anno::key_words(string[]("generic", "surface")), - anno::version(1, 0, 0, ""), - anno::in_group("Advanced") -]] = let { - - base::texture_coordinate_info texture_coordinate_info = - OmniSurface::OmniImage::compute_texture_coordinate_2( - uvw_texture_coordinate_system, - uvw_uv_set, - uvw_s_offset, - uvw_t_offset, - uvw_s_scale, - uvw_t_scale, - uvw_s_flip, - uvw_t_flip, - uvw_swap_st, - uvw_projection_mode, - uvw_projection_translate, - uvw_projection_rotate, - uvw_projection_scale); - - OmniSurface::OmniImage::normal_roughness_data geometry_normal_roughness_data = - tex::texture_isvalid(geometry_normal_image) ? - OmniSurface::OmniImage::tangent_space_normal_roughness_lookup_2( - geometry_normal_image, - uvw_ignore_missing_textures, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - uvw_s_flip, - uvw_t_flip, - geometry_normal_strength, - geometry_normal_image_flip_r_channel, - geometry_normal_image_flip_g_channel, - geometry_normal_image_flip_b_channel, - texture_coordinate_info - ) : - OmniSurface::OmniImage::normal_roughness_data(geometry_normal, float2(0.0)); - - material base = OmniSurface::OmniSurfaceLiteBase::OmniSurfaceLiteBase ( - - //Base - // - diffuse_reflection_weight: tex::texture_isvalid(diffuse_reflection_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - diffuse_reflection_weight_image_alpha_mode - ).mono : - diffuse_reflection_weight, - - diffuse_reflection_color: tex::texture_isvalid(diffuse_reflection_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - diffuse_reflection_color, - - diffuse_reflection_roughness: tex::texture_isvalid(diffuse_reflection_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - diffuse_reflection_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - diffuse_reflection_roughness_image_alpha_mode - ).mono : - diffuse_reflection_roughness, - - //Metalness - // - metalness: tex::texture_isvalid(metalness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - metalness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - metalness_image_alpha_mode - ).mono : - metalness, - - //Specular reflection - // - specular_reflection_weight: tex::texture_isvalid(specular_reflection_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_weight_image_alpha_mode - ).mono : - specular_reflection_weight, - - specular_reflection_color: tex::texture_isvalid(specular_reflection_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - specular_reflection_color, - - specular_reflection_roughness: tex::texture_isvalid(specular_reflection_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_roughness_image_alpha_mode - ).mono : - specular_reflection_roughness, - - specular_reflection_ior_preset: specular_reflection_ior_preset, - specular_reflection_ior: specular_reflection_ior, - - specular_reflection_anisotropy: tex::texture_isvalid(specular_reflection_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_anisotropy_image_alpha_mode - ).mono : - specular_reflection_anisotropy, - - specular_reflection_anisotropy_rotation: tex::texture_isvalid( - specular_reflection_anisotropy_rotation_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - specular_reflection_anisotropy_rotation_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - specular_reflection_anisotropy_rotation_image_alpha_mode - ).mono : - specular_reflection_anisotropy_rotation, - - //Coat - // - coat_weight: tex::texture_isvalid(coat_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_weight_image_alpha_mode - ).mono : - coat_weight, - - coat_color: tex::texture_isvalid(coat_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - coat_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - coat_color, - - coat_roughness: tex::texture_isvalid(coat_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_roughness_image_alpha_mode - ).mono : - coat_roughness, - - coat_ior_preset: coat_ior_preset, - coat_ior: coat_ior, - - coat_anisotropy: tex::texture_isvalid(coat_anisotropy_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_anisotropy_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_anisotropy_image_alpha_mode - ).mono : - coat_anisotropy, - - coat_anisotropy_rotation: tex::texture_isvalid(coat_anisotropy_rotation_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_anisotropy_rotation_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_anisotropy_rotation_image_alpha_mode - ).mono : - coat_anisotropy_rotation, - - coat_affect_color: tex::texture_isvalid(coat_affect_color_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_affect_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_affect_color_image_alpha_mode - ).mono : - coat_affect_color, - - coat_affect_roughness: tex::texture_isvalid(coat_affect_roughness_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - coat_affect_roughness_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - coat_affect_roughness_image_alpha_mode - ).mono : - coat_affect_roughness, - - coat_normal: tex::texture_isvalid(coat_normal_image) ? - OmniSurface::OmniImage::normal_mapping( - OmniSurface::OmniImage::tangent_space_normal_lookup_2( - coat_normal_image, - uvw_ignore_missing_textures, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - uvw_s_flip, - uvw_t_flip, - coat_normal_strength, - coat_normal_image_flip_r_channel, - coat_normal_image_flip_g_channel, - coat_normal_image_flip_b_channel, - texture_coordinate_info - ), - geometry_tangent_bitangent_mapping, - coat_normal - ): - coat_normal, - - //Emission - // - emission_weight: tex::texture_isvalid(emission_weight_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_weight_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_weight_image_alpha_mode - ).mono : - emission_weight, - - emission_mode: emission_mode, - - emission_intensity: tex::texture_isvalid(emission_intensity_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_intensity_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_intensity_image_alpha_mode - ).mono : - emission_intensity, - - emission_color: tex::texture_isvalid(emission_color_image) ? - OmniSurface::OmniImage::texture_lookup_2( - emission_color_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint : - emission_color, - - emission_use_temperature: emission_use_temperature, - - emission_temperature: tex::texture_isvalid(emission_temperature_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - emission_temperature_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - emission_temperature_image_alpha_mode - ).mono : - emission_temperature, - - //Geometry - // - enable_opacity: enable_opacity, - - geometry_opacity: tex::texture_isvalid(geometry_opacity_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_opacity_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_opacity_image_alpha_mode - ).mono : - geometry_opacity, - - geometry_opacity_threshold: geometry_opacity_threshold, - - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - - geometry_normal_roughness: geometry_normal_roughness_data.roughness, - - geometry_normal: OmniSurface::OmniImage::normal_mapping( - geometry_normal_roughness_data.normal, - geometry_tangent_bitangent_mapping, - geometry_normal), - - geometry_displacement: tex::texture_isvalid(geometry_displacement_image) ? - OmniSurface::OmniShared::displacement_adjustment( - (geometry_displacement_mode == OmniSurface::OmniShared::displacement_height) ? - float3(OmniSurface::OmniImage::texture_adjustment_2( - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_displacement_image_alpha_mode - ), - 0.0f, //exposure - color(0.5), //default_color - color(1.0), //color_gain - color(0.0), //color_offset - 1.0f, //alpha_gain - -1.0f * geometry_displacement_scalar_zero_value, //alpha_offset - false, //invert - 0.0f //blend_factor - ).mono) : - - float3(OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ).tint - ), - - geometry_displacement_mode, - - tex::texture_isvalid(geometry_displacement_scale_image) ? - OmniSurface::OmniImage::texture_alpha_channel_remap_2( - OmniSurface::OmniImage::texture_lookup_2( - geometry_displacement_scale_image, - uvw_ignore_missing_textures, - uvw_missing_texture_color, - uvw_use_uv_coords, - uvw_uv_coords, - uvw_s_wrap, - uvw_t_wrap, - texture_coordinate_info - ), - geometry_displacement_scale_image_alpha_mode - ).mono : - geometry_displacement_scale - ): - geometry_displacement - ); - -} in material( - thin_walled: base.thin_walled, - ior: base.ior, - surface: base.surface, - backface: base.backface, - volume: base.volume, - geometry: base.geometry -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/OmniSurfacePresets.mdl b/unitree_z1/materials/mdl/OmniSurfacePresets.mdl deleted file mode 100644 index 49d3669146e1ddbe845ab9b81d75862e8deb967b..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/OmniSurfacePresets.mdl +++ /dev/null @@ -1,5695 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2020-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::anno::*; -import ::limits::*; -import ::state::*; -import ::base::*; - -import OmniSurface::OmniShared::*; -import OmniSurface::OmniImage::*; -import OmniSurfaceLite::*; -import OmniSurface::*; - - -//Incandescent Bulb -// -export material OmniSurface_IncandescentBulb(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(1.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1000.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(0.944, 0.932, 0.760), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Brushed Metal -// -export material OmniSurface_BrushedMetal(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.5), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(1.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(0.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(0.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.25), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.5), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Chrome -// -export material OmniSurface_Chrome(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(1.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(0.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Copper -// -export material OmniSurface_Copper(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.93, 0.723, 0.503), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(1.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0, 0.956, 0.823), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.25), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Gold -// -export material OmniSurface_Gold(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.947, 0.776, 0.371), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(1.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0, 0.982, 0.753), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.15), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Foam -// -export material OmniSurface_Foam(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.2), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Rubber -// -export material OmniSurface_Rubber(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.229), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(1.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.6), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - - -//Car Paint -// -export material OmniSurface_CarPaint(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(0.5), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.104, 0.592, 0.851), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Car Paint Metallic -// -export material OmniSurface_CarPaintMetallic(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(0.8), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.044, 0.249, 0.357), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.5), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(0.08, 0.457, 0.656), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.4), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.5), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.55), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Glossy Paint -// -export material OmniSurface_GlossyPaint(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0, 0.0, 0.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0, 0.0, 0.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.4), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.5), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(2.0), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Two-tone Car Paint -// -export material OmniSurface_TwoToneCarPaint(*) = OmniSurfaceLite::OmniSurfaceLite( - diffuse_reflection_weight: float(0.8), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.012, 0.0, 0.157), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.370), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(0.5, 0.0, 1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.403), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.55), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.55), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//OmniSurface Default -// -export material OmniSurface_Default(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.8), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.2), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.5), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Peanut Butter -// -export material OmniSurface_PeanutButter(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.3), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.436, 0.279, 0.101), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.312, 0.632, 0.092), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.01), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Skim Milk -// -export material OmniSurface_SkimMilk(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.15), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_skim_milk, - subsurface_transmission_color: color(0.890, 0.890, 0.800), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(18.420, 10.440, 3.500), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Whole Milk -// -export material OmniSurface_WholeMilk(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.15), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_whole_milk, - subsurface_transmission_color: color(0.950, 0.930, 0.850), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(10.900, 6.580, 2.510), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Ceramic -// -export material OmniSurface_Ceramic(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(0.1), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Clay -// -export material OmniSurface_Clay(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.309, 0.05, 0.014), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.5), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.4), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(0.3), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.309, 0.05, 0.014), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(0.162), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Plastic -// -export material OmniSurface_Plastic(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.105, 0.242, 0.818), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.325), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(0.2), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.105, 0.242, 0.818), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Skin 1 -// -export material OmniSurface_Skin_1(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_skin_1, - subsurface_transmission_color: color(0.570, 0.310, 0.170), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(3.670, 1.370, 0.680), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.01), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.250), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.3), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.33), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Skin 2 -// -export material OmniSurface_Skin_2(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_skin_2, - subsurface_transmission_color: color(0.750, 0.570, 0.470), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(4.820, 1.690, 1.090), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.01), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.250), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.3), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.33), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Skin 3 -// -export material OmniSurface_Skin_3(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_skin_3, - subsurface_transmission_color: color(0.999, 0.615, 0.521), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.000, 0.300, 0.100), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.01), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.250), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.3), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.33), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Skin 4 -// -export material OmniSurface_Skin_4(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_skin_4, - subsurface_transmission_color: color(0.078, 0.043, 0.025), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(0.723, 0.264, 0.127), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.01), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.250), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.3), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.33), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Velvet -// -export material OmniSurface_Velvet(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.8), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.029, 0.0, 0.047), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(0.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: false, - specular_transmission_weight: float(0.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(1.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(0.404, 0.058, 1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Honey -// -export material OmniSurface_Honey(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.504), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0, 0.474, 0.115), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.1), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(1.0, 0.39, 0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Maple Syrup -// -export material OmniSurface_MapleSyrup(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.075), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.504), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.95, 0.35, 0.001), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.1), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.5, 0.1, 0.001), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Orange Juice -// -export material OmniSurface_OrangeJuice(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.831, 0.426, 0.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.4), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(0.3), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.999, 0.513, 0.001), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.1), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.999, 0.513, 0.001), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.831, 0.426, 0.001), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(0.162), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Dusted Glass -// -export material OmniSurface_DustedGlass(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(0.145, 0.640, 0.505), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.5), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(0.65), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.001, 0.2, 0.2), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.25), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.24, 0.54, 0.455), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(-0.5), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.5), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(1.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.55), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Frosted Glass -// -export material OmniSurface_FrostedGlass(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.4), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.713, 0.818, 0.814), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.292), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Glass -// -export material OmniSurface_Glass(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Blood -// -export material OmniSurface_Blood(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.432, 0.0, 0.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(0.1), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: true, - subsurface_weight: float(1.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.432, 0.0, 0.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(0.2), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Bubble -// -export material OmniSurface_Bubble(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.0), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(1.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.0), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: true, - thin_film_thickness: float(270.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.4), - - thin_walled: true, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Wax -// -export material OmniSurface_Wax(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0, 0.481, 0.864), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.4), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(0.8), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0, 0.481, 0.864), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(1.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(1.0, 0.481, 0.864), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0, 0.481, 0.864), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(2.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Polyethylene -// -export material OmniSurface_Polyethylene(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.1), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(1.52), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.95, 0.98, 1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(1.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.95, 0.98, 1.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: true, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Diamond -// -export material OmniSurface_Diamond(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.0), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_diamond, - specular_reflection_ior: float(2.42), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(20.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Jade -// -export material OmniSurface_Jade(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(1.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(0.060, 0.440, 0.192), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.250), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_custom, - specular_reflection_ior: float(2.418), - specular_reflection_anisotropy: float(0.5), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(0.6), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.060, 0.440, 0.192), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(1.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(0.060, 0.440, 0.192), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(0.1), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.1), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Clear Water -// -export material OmniSurface_ClearWater(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.12), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_water_0c, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(0.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.0), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.0), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); - -//Deep Water -// -export material OmniSurface_DeepWater(*) = OmniSurface::OmniSurface( - diffuse_reflection_weight: float(0.0), - diffuse_reflection_weight_image: texture_2d(), - diffuse_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - diffuse_reflection_color: color(1.0), - diffuse_reflection_color_image: texture_2d(), - diffuse_reflection_roughness: float(0.0), - diffuse_reflection_roughness_image: texture_2d(), - diffuse_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - metalness: float(0.0), - metalness_image: texture_2d(), - metalness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - specular_reflection_weight: float(1.0), - specular_reflection_weight_image: texture_2d(), - specular_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_color: color(1.0), - specular_reflection_color_image: texture_2d(), - specular_reflection_roughness: float(0.12), - specular_reflection_roughness_image: texture_2d(), - specular_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_ior_preset: OmniSurface::OmniShared::ior_water_0c, - specular_reflection_ior: float(1.33), - specular_reflection_anisotropy: float(0.0), - specular_reflection_anisotropy_image: texture_2d(), - specular_reflection_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_reflection_anisotropy_rotation: float(0.0), - specular_reflection_anisotropy_rotation_image: texture_2d(), - specular_reflection_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_specular_transmission: true, - specular_transmission_weight: float(1.0), - specular_transmission_weight_image: texture_2d(), - specular_transmission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_color: color(0.744, 0.940, 1.0), - specular_transmission_color_image: texture_2d(), - specular_transmission_scattering_depth: float(1.0), - specular_transmission_scattering_depth_image: texture_2d(), - specular_transmission_scattering_depth_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_scattering_color: color(0.067, 0.134, 0.5), - specular_transmission_scattering_color_image: texture_2d(), - specular_transmission_scatter_anisotropy: float(0.75), - specular_transmission_scatter_anisotropy_image: texture_2d(), - specular_transmission_scatter_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_transmission_dispersion_abbe: float(0.0), - - enable_diffuse_transmission: false, - subsurface_weight: float(0.0), - subsurface_weight_image: texture_2d(), - subsurface_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_scattering_colors_preset: OmniSurface::OmniShared::scattering_colors_custom, - subsurface_transmission_color: color(1.0), - subsurface_transmission_color_image: texture_2d(), - subsurface_scattering_color: color(1.0), - subsurface_scattering_color_image: texture_2d(), - subsurface_scale: float(1.0), - subsurface_scale_image: texture_2d(), - subsurface_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - subsurface_anisotropy: float(0.0), - subsurface_anisotropy_image: texture_2d(), - subsurface_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - coat_weight: float(0.0), - coat_weight_image: texture_2d(), - coat_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_color: color(1.0), - coat_color_image: texture_2d(), - coat_roughness: float(0.0), - coat_roughness_image: texture_2d(), - coat_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_ior_preset: OmniSurface::OmniShared::ior_custom, - coat_ior: float(1.5), - coat_anisotropy: float(0.0), - coat_anisotropy_image: texture_2d(), - coat_anisotropy_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_anisotropy_rotation: float(0.0), - coat_anisotropy_rotation_image: texture_2d(), - coat_anisotropy_rotation_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_color: float(0.0), - coat_affect_color_image: texture_2d(), - coat_affect_color_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_affect_roughness: float(0.0), - coat_affect_roughness_image: texture_2d(), - coat_affect_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - coat_normal_strength: float(1.0), - coat_normal: state::normal(), - coat_normal_image: texture_2d(), - coat_normal_image_flip_r_channel: false, - coat_normal_image_flip_g_channel: false, - coat_normal_image_flip_b_channel: false, - - specular_retro_reflection_weight: float(0.0), - specular_retro_reflection_weight_image: texture_2d(), - specular_retro_reflection_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - specular_retro_reflection_color: color(1.0), - specular_retro_reflection_color_image: texture_2d(), - specular_retro_reflection_roughness: float(0.3), - specular_retro_reflection_roughness_image: texture_2d(), - specular_retro_reflection_roughness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - emission_weight: float(0.0), - emission_weight_image: texture_2d(), - emission_weight_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_mode: OmniSurface::OmniShared::emission_lx, - emission_intensity: float(1.0), - emission_intensity_image: texture_2d(), - emission_intensity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - emission_color: color(1.0), - emission_color_image: texture_2d(), - emission_use_temperature: false, - emission_temperature: float(6500.0), - emission_temperature_image: texture_2d(), - emission_temperature_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - - enable_thin_film: false, - thin_film_thickness: float(400.0), - thin_film_thickness_image: texture_2d(), - thin_film_thickness_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - thin_film_ior_preset: OmniSurface::OmniShared::ior_custom, - thin_film_ior: float(1.52), - - thin_walled: false, - enable_opacity: false, - geometry_opacity: float(1.0), - geometry_opacity_image: texture_2d(), - geometry_opacity_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_opacity_threshold: float(0.0), - geometry_normal_strength: float(1.0), - geometry_normal_roughness_strength: float(1.0), - geometry_normal: state::normal(), - geometry_normal_image: texture_2d(), - geometry_normal_image_flip_r_channel: false, - geometry_normal_image_flip_g_channel: false, - geometry_normal_image_flip_b_channel: false, - geometry_tangent_bitangent_mapping: OmniSurface::OmniImage::red_green, - geometry_displacement: float3(0.0), - geometry_displacement_mode: OmniSurface::OmniShared::displacement_height, - geometry_displacement_image: texture_2d(), - geometry_displacement_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scale: float(1.0), - geometry_displacement_scale_image: texture_2d(), - geometry_displacement_scale_image_alpha_mode: OmniSurface::OmniImage::alpha_default, - geometry_displacement_scalar_zero_value: float(0.0), - - uvw_texture_coordinate_system: base::texture_coordinate_uvw, - uvw_uv_set: 0, - uvw_ignore_missing_textures: false, - uvw_missing_texture_color: color(0.0), - uvw_use_uv_coords: false, - uvw_uv_coords: float2(0.0), - uvw_s_offset: 0.0f, - uvw_t_offset: 0.0f, - uvw_s_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_t_wrap: OmniSurface::OmniImage::wrap_periodic, - uvw_s_scale: 1.0f, - uvw_t_scale: 1.0f, - uvw_s_flip: false, - uvw_t_flip: false, - uvw_swap_st: false, - uvw_projection_mode: OmniSurface::OmniImage::projection_cubic, - uvw_projection_translate: float3(0.0), - uvw_projection_rotate: float3(0.0), - uvw_projection_scale: float3(1.0) -); \ No newline at end of file diff --git a/unitree_z1/materials/mdl/aux_definitions.mdl b/unitree_z1/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/unitree_z1/materials/mdl/core_definitions.mdl b/unitree_z1/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/unitree_z1/materials/mdl/license.txt b/unitree_z1/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/unitree_z1/materials/mdl/support_definitions.mdl b/unitree_z1/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/unitree_z1/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/unitree_z1/payloads/Physics/mujoco.usda b/unitree_z1/payloads/Physics/mujoco.usda deleted file mode 100644 index f982596575db1ba42e42acb1364183b6064b1f3a..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,197 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - metersPerUnit = 1 - upAxis = "Z" -) - -over "z1_description" -{ - over "root_joint" - { - } - - over "link00" - { - over "joint1" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - - over "collisions" - { - over "mesh_0" - { - } - } - } - - over "link01" - { - over "joint2" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - } - - over "link02" - { - over "joint3" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - - over "collisions" - { - over "mesh_0" - { - } - - over "mesh_1" - { - } - - over "mesh_2" - { - } - } - } - - over "link03" - { - over "joint4" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - - over "collisions" - { - over "mesh_0" - { - } - - over "mesh_1" - { - } - } - } - - over "link04" - { - over "joint5" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - - over "collisions" - { - } - } - - over "link05" - { - over "joint6" ( - delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - } - - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - } - - over "link06" - { - over "visuals" - { - over "mesh_0" - { - } - - over "Looks" - { - } - } - - over "collisions" - { - over "mesh_0" - { - } - } - } - - over "VisualMaterials" - { - } -} - diff --git a/unitree_z1/payloads/Physics/physics.usda b/unitree_z1/payloads/Physics/physics.usda deleted file mode 100644 index e3ee72481ec6c6e6b1176a54dd4f2565b55b3d4f..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/Physics/physics.usda +++ /dev/null @@ -1,271 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "z1_description" - metersPerUnit = 1 - upAxis = "Z" -) - -over "z1_description" -{ - over "link00" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.00334984, -0.00013615, 0.02495843) - float3 physics:diagonalInertia = (0.00037865774, 0.0004152068, 0.0005313755) - float physics:mass = 0.4724748 - quatf physics:principalAxes = (0.9993948, 0.003952194, -0.034064516, 0.005837089) - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 500 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.0585) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -149.99998 - float physics:upperLimit = 149.99998 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - - def PhysicsFixedJoint "root_joint" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] - ) - { - rel physics:body1 = - } - - over "link01" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.00000247, -0.00025198, 0.02317169) - float3 physics:diagonalInertia = (0.0012832802, 0.0007193078, 0.00083936175) - float physics:mass = 0.67332554 - quatf physics:principalAxes = (0.9999978, -0.0020822193, 0.000450702, -0.000052655443) - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 60 - float drive:angular:physics:stiffness = 500 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0, 0, 0.045) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.5213338136672974, 0.4777143895626068, 0.4777143895626068, 0.5213338136672974) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -84.99999237060547 - float physics:upperLimit = 84.99999237060547 - } - } - - over "link02" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (-0.11012601, 0.00240029, 0.00158266) - float3 physics:diagonalInertia = (0.0010046825, 0.024311256, 0.024661155) - float physics:mass = 1.1913226 - quatf physics:principalAxes = (0.9999066, 0.002804847, 0.00007204556, -0.013384024) - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 500 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (-0.35, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.5316310524940491, -0.46622785925865173, -0.46622785925865173, 0.5316310524940491) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -82.49999237060547 - float physics:upperLimit = 82.49999237060547 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - - over "mesh_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - - over "link03" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.10609208, -0.00541815, 0.03476383) - float3 physics:diagonalInertia = (0.00055843196, 0.0095436545, 0.009387113) - float physics:mass = 0.83940876 - quatf physics:principalAxes = (0.9921452, 0.025269112, -0.12225115, 0.008012127) - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 500 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.218, 0, 0.057) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) - quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) - float physics:lowerLimit = -86.99999 - float physics:upperLimit = 86.99999 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } - - over "link04" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.04366681, 0.00364738, -0.00170192) - float3 physics:diagonalInertia = (0.00030265475, 0.00094052945, 0.0009816558) - float physics:mass = 0.5640456 - quatf physics:principalAxes = (0.9973969, 0.009613185, 0.029951058, -0.06488567) - - def PhysicsRevoluteJoint "joint5" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 500 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.07, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -77 - float physics:upperLimit = 77 - } - } - - over "link05" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.03121533, 0, 0.00646316) - float3 physics:diagonalInertia = (0.00016733221, 0.0005589608, 0.00054731703) - float physics:mass = 0.38938493 - quatf physics:principalAxes = (0.997107, -0.0029482334, 0.07595268, -0.0003068974) - - def PhysicsRevoluteJoint "joint6" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 50 - float drive:angular:physics:maxForce = 30 - float drive:angular:physics:stiffness = 500 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.0492, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -159.99998 - float physics:upperLimit = 159.99998 - } - } - - over "link06" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - point3f physics:centerOfMass = (0.0241569, -0.00017355, -0.00143876) - float3 physics:diagonalInertia = (0.00018332961, 0.0001474641, 0.0001467863) - float physics:mass = 0.28875807 - quatf physics:principalAxes = (0.998779, 0.045774184, -0.0066371514, 0.017354852) - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - } - } - } -} - diff --git a/unitree_z1/payloads/Physics/physx.usda b/unitree_z1/payloads/Physics/physx.usda deleted file mode 100644 index 612aca0ac7c2e31d58524ba6be972826e59ea558..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/Physics/physx.usda +++ /dev/null @@ -1,87 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "z1_description" - metersPerUnit = 1 - subLayers = [ - @./physics.usda@ - ] - upAxis = "Z" -) - -over "z1_description" -{ - over "link00" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - } - - over "link01" - { - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 2 - float physxJoint:maxJointVelocity = 179.99469 - } - } - - over "link02" - { - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - } - } - - over "link03" - { - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - } - } - - over "link04" - { - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - } - } - - over "link05" - { - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - } - } -} - diff --git a/unitree_z1/payloads/base.usda b/unitree_z1/payloads/base.usda deleted file mode 100644 index 6b911627c01c635e44116845a3a9bc682566155f..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/base.usda +++ /dev/null @@ -1,351 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "z1_description" - metersPerUnit = 1 - subLayers = [ - @./robot.usda@ - ] - upAxis = "Z" -) - -def Xform "z1_description" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "link00" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - - def "collisions" ( - instanceable = false - ) - { - def Cylinder "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.0255, -0.0325, -0.0325), (0.0255, 0.0325, 0.0325)] - double height = 0.050999999046325684 - uniform token purpose = "guide" - double radius = 0.032499998807907104 - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.025499999523162842) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Xform "link01" - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.05849999934434891) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - } - - def Xform "link02" - { - quatd xformOp:orient = (0.73727738179026125, -1.5001114984168914e-16, 0.67559015852845083, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0.10350000113248825) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - - def "collisions" ( - instanceable = false - ) - { - def Cylinder "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.051, -0.0325, -0.0325), (0.051, 0.0325, 0.0325)] - double height = 0.10199999809265137 - uniform token purpose = "guide" - double radius = 0.032499998807907104 - quatd xformOp:orient = (0.7071067690849304, 0.7071067690849304, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Cylinder "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.1175, -0.0225, -0.0225), (0.1175, 0.0225, 0.0225)] - double height = 0.23499999940395355 - uniform token purpose = "guide" - double radius = 0.02250000089406967 - quatd xformOp:orient = (0.7071067690849304, 0, 0.7071067690849304, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.16249999403953552, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Cylinder "mesh_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.0255, -0.0325, -0.0325), (0.0255, 0.0325, 0.0325)] - double height = 0.050999999046325684 - uniform token purpose = "guide" - double radius = 0.032499998807907104 - quatd xformOp:orient = (0.7071067690849304, 0.7071067690849304, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.3499999940395355, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Xform "link03" - { - quatd xformOp:orient = (0.99976202707990913, -4.8438775289840773e-18, 0.021814885034561013, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (-0.030504555870162382, 7.0942238343668228e-17, 0.45216813546489187) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - - def "collisions" ( - instanceable = false - ) - { - def Cylinder "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.058, -0.02, -0.02), (0.058, 0.02, 0.02)] - double height = 0.11599999666213989 - uniform token purpose = "guide" - double radius = 0.019999999552965164 - quatd xformOp:orient = (0.7071067690849304, 0, 0.7071067690849304, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.12800000607967377, 0, 0.054999999701976776) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Cylinder "mesh_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.0295, -0.0325, -0.0325), (0.0295, 0.0325, 0.0325)] - double height = 0.05900000035762787 - uniform token purpose = "guide" - double radius = 0.032499998807907104 - quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, 0.4999999701976776, 0.4999999701976776) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.22050000727176666, 0, 0.054999999701976776) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Xform "link04" - { - quatd xformOp:orient = (0.99976202707990913, -4.8438775289840773e-18, 0.021814885034561013, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.18977425627559028, 7.1448237450940547e-17, 0.49960485790798131) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - - def "collisions" ( - instanceable = false - ) - { - } - } - - def Xform "link05" - { - quatd xformOp:orient = (0.99976202707990913, -4.8438775289840773e-18, 0.021814885034561013, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.25970763208405989, 7.1433443842479291e-17, 0.49655150077940824) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - } - - def Xform "link06" - { - quatd xformOp:orient = (0.99976202707990913, -4.8438775289840773e-18, 0.021814885034561013, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.30886080296618401, 7.1423046049490556e-17, 0.4944054269917515) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = false - ) - { - def Xform "mesh_0" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Scope "Looks" - { - } - } - - def "collisions" ( - instanceable = false - ) - { - def Cylinder "mesh_0" ( - prepend apiSchemas = ["PhysicsCollisionAPI"] - ) - { - uniform token axis = "Z" - float3[] extent = [(-0.0255, -0.0325, -0.0325), (0.0255, 0.0325, 0.0325)] - double height = 0.050999999046325684 - uniform token purpose = "guide" - double radius = 0.032499998807907104 - quatd xformOp:orient = (0.7071067690849304, 0, 0.7071067690849304, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.025499999523162842, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/unitree_z1/payloads/geometries.usd b/unitree_z1/payloads/geometries.usd deleted file mode 100644 index 490ae41da446cb1e42128e8504a7f5b462f0d5a9..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d39c3ae2c1d034215076d1ac7bf87feb14ea3840973b90f2c9ffc53ae8114d71 -size 12815717 diff --git a/unitree_z1/payloads/instances.usda b/unitree_z1/payloads/instances.usda deleted file mode 100644 index 8b2b15c3d8231acf79e70891605ca73b3d650cfc..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/instances.usda +++ /dev/null @@ -1,298 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - metersPerUnit = 1 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "mesh_0" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_1" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_1" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_2" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_2" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_3" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_3" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_4" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_4" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_5" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_5" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "mesh_0_6" ( - prepend references = @./geometries.usd@ - ) - { - over "mesh_0_6" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - def Scope "VisualMaterials" - { - def Material "OmniSurface_BrushedMetal" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } -} - diff --git a/unitree_z1/payloads/materials.usda b/unitree_z1/payloads/materials.usda deleted file mode 100644 index 2bfb0d86d97c805fa91b2efd9112451e7c0600ea..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/materials.usda +++ /dev/null @@ -1,138 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - metersPerUnit = 1 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "OmniSurface_BrushedMetal" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @./../materials/mdl/OmniSurfacePresets.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniSurface_BrushedMetal" - color3f inputs:coat_color = (1, 1, 1) ( - customData = { - float3 default = (1, 1, 1) - } - displayGroup = "Coat" - hidden = false - renderType = "color" - ) - color3f inputs:diffuse_reflection_color = (0.45, 0.47, 0.55) ( - customData = { - float3 default = (0.5, 0.5, 0.5) - } - displayGroup = "Base" - hidden = false - renderType = "color" - ) - float inputs:diffuse_reflection_roughness = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Base" - hidden = false - ) - float inputs:diffuse_reflection_weight = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Base" - hidden = false - ) - float inputs:metalness = 1 ( - customData = { - double default = 1 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Base" - hidden = false - ) - color3f inputs:specular_reflection_color = (0.000001, 9.198312e-7, 9.198312e-7) ( - customData = { - float3 default = (0, 0, 0) - } - displayGroup = "Specular" - hidden = false - renderType = "color" - ) - float inputs:specular_reflection_roughness = 0.58 ( - customData = { - double default = 0.25 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Specular" - hidden = false - ) - token outputs:out ( - renderType = "material" - ) - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.45, 0.47, 0.55) - float inputs:metallic = 1 - float inputs:opacity = 1 - float inputs:roughness = 0.58 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/unitree_z1/payloads/robot.usda b/unitree_z1/payloads/robot.usda deleted file mode 100644 index 6b8c92be258017d1bd78fa30f6a06421db640adf..0000000000000000000000000000000000000000 --- a/unitree_z1/payloads/robot.usda +++ /dev/null @@ -1,115 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "z1_description" - metersPerUnit = 1 - upAxis = "Z" -) - -over "z1_description" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - string isaac:namespace ( - displayName = "Namespace" - doc = "Namespace of the prim in Isaac Sim" - ) - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "link00" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link01" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link02" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link03" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link04" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint5" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link05" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint6" ( - prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "link06" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - } -} diff --git a/unitree_z1/runnables/physics/mujoco.usda b/unitree_z1/runnables/physics/mujoco.usda deleted file mode 100644 index 7ead91d2ac632069910748662f7eb3f78dc3a370..0000000000000000000000000000000000000000 --- a/unitree_z1/runnables/physics/mujoco.usda +++ /dev/null @@ -1,212 +0,0 @@ -#usda 1.0 -( - defaultPrim = "z1_description" -) - -def "z1_description" -{ - over "link00" - { - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link02" - { - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - - over "mesh_2" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link03" - { - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link06" - { - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["MjcCollisionAPI"] - ) - { - } - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_z1_description_link00_joint1" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_z1_description_link01_joint2" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 60 - double mjc:forceRange:min = -60 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_z1_description_link02_joint3" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_z1_description_link03_joint4" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_z1_description_link04_joint5" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - - def MjcActuator "act_z1_description_link05_joint6" ( - doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively." - ) - { - double[] mjc:biasPrm = [0, -28647.88975654116, -2864.7889756541163] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 30 - double mjc:forceRange:min = -30 - double[] mjc:gainPrm = [1] - token mjc:gainType = "fixed" - rel mjc:target = - } - } - - over "link01" - { - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link04" - { - over "joint5" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } - - over "link05" - { - over "joint6" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - } - } -} - diff --git a/unitree_z1/runnables/physics/newton.usda b/unitree_z1/runnables/physics/newton.usda deleted file mode 100644 index 6263f8f0a3b76ebf579ce1e55e8fa5cb8fd76496..0000000000000000000000000000000000000000 --- a/unitree_z1/runnables/physics/newton.usda +++ /dev/null @@ -1,121 +0,0 @@ -#usda 1.0 -( - defaultPrim = "z1_description" - metersPerUnit = 1 - upAxis = "Z" -) - -over "z1_description" -{ - over "root_joint" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] - ) - { - bool newton:selfCollisionEnabled = 0 - } - - over "link00" - { - over "joint1" - { - float drive:angular:physics:damping = 2 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - } - } - - over "link01" - { - over "joint2" - { - float drive:angular:physics:damping = 4 - } - } - - over "link02" - { - over "joint3" - { - float drive:angular:physics:damping = 2 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - - over "mesh_2" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - } - } - - over "link03" - { - over "joint4" - { - float drive:angular:physics:damping = 2 - } - - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - - over "mesh_1" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - } - } - - over "link04" - { - over "joint5" - { - float drive:angular:physics:damping = 2 - } - } - - over "link05" - { - over "joint6" - { - float drive:angular:physics:damping = 1 - } - } - - over "link06" - { - over "collisions" - { - over "mesh_0" ( - prepend apiSchemas = ["NewtonCollisionAPI"] - ) - { - } - } - } -} diff --git a/unitree_z1/runnables/physics/physx.usda b/unitree_z1/runnables/physics/physx.usda deleted file mode 100644 index 8de7eaefe61305f7dacccbb4637690e2c64466ac..0000000000000000000000000000000000000000 --- a/unitree_z1/runnables/physics/physx.usda +++ /dev/null @@ -1,96 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "z1_description" - metersPerUnit = 1 - upAxis = "Z" -) - -over "z1_description" -{ - over "link00" - { - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0.23386763 - float state:angular:physics:velocity = 0.21788985 - } - } - - over "root_joint" ( - prepend apiSchemas = ["PhysxArticulationAPI"] - ) - { - } - - over "link01" - { - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 2 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "link02" - { - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "link03" - { - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "link04" - { - over "joint5" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } - - over "link05" - { - over "joint6" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 1 - float physxJoint:maxJointVelocity = 179.99469 - float state:angular:physics:position = 0 - float state:angular:physics:velocity = 0 - } - } -} - diff --git a/unitree_z1/z1.usda b/unitree_z1/z1.usda deleted file mode 100644 index 6dafa846643c81d0261f26b7774134777b624358..0000000000000000000000000000000000000000 --- a/unitree_z1/z1.usda +++ /dev/null @@ -1,1321 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary SimReady_Metadata = { - dictionary Variants = { - dictionary Physics = { - dictionary MuJoCo = { - string activateOption = "Enabled" - string prim = "/z1_description" - string variantSetName = "MuJoCo" - } - dictionary Newton = { - string activateOption = "Enabled" - string prim = "/z1_description" - string variantSetName = "Newton" - } - dictionary PhysX = { - string activateOption = "Enabled" - string prim = "/z1_description" - string variantSetName = "PhysX" - } - } - } - dictionary runtime_testing = { - dictionary tested_features = { - dictionary "2026-10-31T20:07:08.573916+00:00" = { - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" - string display_name = "Minimal Placeable Visual" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary culling_xz = { - string name = "culling_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py" - string version = "2.0.2" - } - dictionary light_response = { - string name = "light_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py" - string version = "2.0.3" - } - dictionary normals_xz = { - string name = "normals_xz" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py" - string version = "2.0.3" - } - dictionary pivot = { - string name = "pivot" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py" - string version = "2.0.3" - } - dictionary presence = { - string name = "presence" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py" - string version = "2.0.1" - } - } - } - } - string family = "FET001" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "1.0.1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - string contract_id = "FET003_RigidBody.Newton.0-1-0" - string display_name = "Rigid Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop_newton = { - string name = "ground_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability_newton = { - string name = "ground_stability_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop_newton = { - string name = "slope_drop_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "skipped" - string version = "0.1.0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - string contract_id = "FET003_RigidBody.OpenUSD.0-2-0" - string display_name = "Rigid Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "skipped" - string version = "0.2.0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - string contract_id = "FET003_RigidBody.PhysX.0-4-0" - string display_name = "Rigid Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "skipped" - dictionary tests = { - dictionary ground_drop = { - string name = "ground_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py" - string version = "4.0.1" - } - dictionary ground_stability = { - string name = "ground_stability" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py" - string version = "3.0.1" - } - dictionary slope_drop = { - string name = "slope_drop" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py" - string version = "3.3.5" - } - } - } - } - string family = "FET003" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "skipped" - string version = "0.4.0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - string contract_id = "FET004_Multibody.Newton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - string contract_id = "FET004_Multibody.OpenUSD.0-2-0" - string display_name = "Simulate Multi-Body Physics" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - string contract_id = "FET004_Multibody.PhysX.0-4-0" - string display_name = "Simulate Multi-Body Physics (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement = { - string name = "joint_movement" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.4" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "pass" - string version = "0.4.0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - string contract_id = "FET004_Multibody.RobotNewton.0-1-0" - string display_name = "Simulate Multi-Body Physics (Robot Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary joint_movement_newton = { - string name = "joint_movement_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py" - string version = "2.2.5" - } - } - } - } - string family = "FET004" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "RobotNewton" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - string contract_id = "FET006_Materials.MDL.0-2-0" - string display_name = "Materials (MDL)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary mdl_renders = { - string name = "mdl_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py" - string version = "0.4.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "MDL" - bool source = 0 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - string contract_id = "FET006_Materials.OpenUSD.0-2-0" - string display_name = "Materials (USDPreviewSurface)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary preview_surface_renders = { - string name = "preview_surface_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.2.0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - string contract_id = "FET006_Materials.Openpbr.0-1-0" - string display_name = "Materials (OpenPBR)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary openpbr_renders = { - string name = "openpbr_renders" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py" - string version = "0.5.0" - } - } - } - } - string family = "FET006" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Openpbr" - bool source = 0 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0" - string display_name = "Display Color" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - dictionary isaac_sim_newton = { - bool passed = 1 - string status = "pass" - dictionary tests = { - dictionary display_color_response = { - string name = "display_color_response" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py" - string version = "0.4.5" - } - } - } - } - string family = "FET010" - int foundations_contract = 2 - bool passed = 1 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "OpenUSD" - bool source = 1 - string status = "pass" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - string contract_id = "FET022_DrivenJoints.Isaac.0-2-0" - string display_name = "Driven Joints (Isaac)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Isaac" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - string contract_id = "FET022_DrivenJoints.Newton.0-1-0" - string display_name = "Driven Joints (Newton)" - dictionary engines = { - dictionary isaac_sim_newton = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation_newton = { - string name = "drive_gain_validation_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.10" - } - dictionary effort_limit_newton = { - string name = "effort_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.1.10" - } - dictionary full_range_sweep_newton = { - string name = "full_range_sweep_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.7" - } - dictionary ik_target_reach_newton = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.9" - } - dictionary jacobian_ik_newton = { - string name = "jacobian_ik_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint_newton = { - string name = "mimic_joint_newton" - bool passed = 0 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.12" - } - dictionary multi_joint_coordination_newton = { - string name = "multi_joint_coordination_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy_newton = { - string name = "state_accuracy_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.10" - } - dictionary velocity_limit_newton = { - string name = "velocity_limit_newton" - bool passed = 1 - string provider = "simready.foundation.tier_newton.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.12" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "Newton" - bool source = 0 - string status = "incomplete" - string version = "0.1.0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - string contract_id = "FET022_DrivenJoints.PhysX.0-2-0" - string display_name = "Driven Joints (PhysX)" - dictionary engines = { - dictionary isaac_sim = { - bool passed = 0 - string status = "incomplete" - dictionary tests = { - dictionary drive_gain_validation = { - string name = "drive_gain_validation" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py" - string version = "1.1.9" - } - dictionary effort_limit = { - string name = "effort_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py" - string version = "1.2.0" - } - dictionary full_range_sweep = { - string name = "full_range_sweep" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py" - string version = "1.5.6" - } - dictionary ik_target_reach = { - string execution_status = "error" - string failure_category = "test_or_runtime_error" - string name = "ik_target_reach" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "incomplete" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py" - string version = "1.2.8" - } - dictionary jacobian_ik = { - string name = "jacobian_ik" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py" - string version = "1.4.12" - } - dictionary mimic_joint = { - string name = "mimic_joint" - bool passed = 0 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "skipped" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py" - string version = "1.1.11" - } - dictionary multi_joint_coordination = { - string name = "multi_joint_coordination" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py" - string version = "1.2.6" - } - dictionary state_accuracy = { - string name = "state_accuracy" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py" - string version = "1.2.9" - } - dictionary velocity_limit = { - string name = "velocity_limit" - bool passed = 1 - string provider = "simready.foundation.tier_core.runtime_tests" - string status = "pass" - string test_file = "/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py" - string version = "1.1.11" - } - } - } - } - dictionary failure_categories = { - string "0" = "test_or_runtime_error" - } - string family = "FET022" - int foundations_contract = 2 - bool passed = 0 - dictionary profile = { - string id = "Robot-Body" - string version = "3.0.0" - } - dictionary profiles = { - dictionary profile_0 = { - string id = "Robot-Body" - string version = "3.0.0" - } - } - string runtime = "PhysX" - bool source = 0 - string status = "incomplete" - string version = "0.2.0" - } - } - } - } - dictionary validation = { - string profile = "Robot-Body" - string profile_version = "3.0.0" - dictionary validated_features = { - dictionary "2026-10-30" = { - dictionary "CAP000_Core.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP000_Core.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP000_Core.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP021_RobotCore.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP025_RosBridge.Ros.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - string "optional requirements" = "['com.nvidia.simready.ROS.001']" - bool passed = 0 - string version = "0-1-0" - } - dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-3-0" - } - dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "1-0-1" - } - dictionary "FET003_RigidBody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET003_RigidBody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET003_RigidBody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.Newton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET004_Multibody.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET004_Multibody.PhysX.0-4-0" = { - bool blocking_failure = 0 - string dependencies = "['FET003_RigidBody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-4-0" - } - dictionary "FET004_Multibody.RobotNewton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET006_Materials.MDL.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET006_Materials.Openpbr.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "[]" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.Isaac.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.Newton.0-1-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']" - bool passed = 1 - string version = "0-1-0" - } - dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']" - bool passed = 1 - string version = "0-2-0" - } - dictionary "FET022_DrivenJoints.PhysX.0-2-0" = { - bool blocking_failure = 0 - string dependencies = "['FET004_Multibody.PhysX.0-4-0']" - bool passed = 1 - string version = "0-2-0" - } - } - } - } - } - float3 asset_extents = (0.43574995, 0.1319351, 0.19799997) - string asset_license = "Unknown - not verified; no permissions asserted" - string asset_name = "z1" - string asset_type = "robot" - string author = "Unitree" - string category = "robotic arm" - string distribution_policy = "Internal handling policy: exclude from redistribution until applicable rights are verified. This policy grants no license or viewing permission." - string license_status = "unverified" - double mass = 4.4187202751636505 - string qcode = "Q40687" - int rigid_body_count = 7 - string source_file = "Unitree/Z1/z1.usda" - string usage_clearance = "Pending source-license or rights-holder verification" - string usd_date_generated = "2026-10-02" - } - defaultPrim = "z1_description" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "z1_description" ( - kind = "component" - prepend references = [ - @./payloads/Physics/physics.usda@, - @./payloads/base.usda@ - ] - variants = { - string MuJoCo = "Disabled" - string Newton = "Disabled" - string PhysX = "Disabled" - } - prepend variantSets = ["PhysX", "Newton", "MuJoCo"] -) -{ - color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] ( - interpolation = "constant" - ) - - over "link00" - { - over "collisions" - { - over "mesh_0" - { - token visibility = "invisible" - } - } - } - - over "link02" - { - over "collisions" - { - over "mesh_0" - { - token visibility = "invisible" - } - - over "mesh_1" - { - token visibility = "invisible" - } - - over "mesh_2" - { - token visibility = "invisible" - } - } - } - - over "link03" - { - over "collisions" - { - over "mesh_0" - { - token visibility = "invisible" - } - - over "mesh_1" - { - token visibility = "invisible" - } - } - } - - over "link06" - { - over "collisions" - { - over "mesh_0" - { - token visibility = "invisible" - } - } - } - variantSet "PhysX" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/physx.usda@ - ) { - - } - } - variantSet "Newton" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/newton.usda@ - ) { - - } - } - variantSet "MuJoCo" = { - "Disabled" { - - } - "Enabled" ( - prepend payload = @./runnables/physics/mujoco.usda@ - ) { - - } - } -} - diff --git a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 900c5b93c1c411ae29e18fe63a10f785bb2299d7..24d1d5f97e35d71f5029d0d4908baab1df107e05 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:32", + "timestamp": "2026-11-03T23:36:36", "assets": [ { "asset": "ur10.usda", diff --git a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3873808bf9646802bd5bee173e5814fb12ba2dec..6d3706ad27930de774da56d34e5fb932852a7b58 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:35", + "timestamp": "2026-11-03T23:36:38", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json index b2f12d739a20f925ca4f8fe73191b66ad13bba25..68ab424a198b30410b135f49c50f1e7163ca76bc 100644 --- a/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur10/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur10/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur10/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur10.usda.png", diff --git a/universalrobots_ur10/.metadata/ur10_benchmark.json b/universalrobots_ur10/.metadata/universalrobots_ur10_benchmark.json similarity index 99% rename from universalrobots_ur10/.metadata/ur10_benchmark.json rename to universalrobots_ur10/.metadata/universalrobots_ur10_benchmark.json index cf3c46f14b59ed088f113456dbeb80fd2aa7082c..635ab8e99d63b735bbb7db19345f6520e4a2f821 100644 --- a/universalrobots_ur10/.metadata/ur10_benchmark.json +++ b/universalrobots_ur10/.metadata/universalrobots_ur10_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur10", + "asset": "universalrobots_ur10", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur10/.metadata/ur10_validation.json b/universalrobots_ur10/.metadata/universalrobots_ur10_validation.json similarity index 97% rename from universalrobots_ur10/.metadata/ur10_validation.json rename to universalrobots_ur10/.metadata/universalrobots_ur10_validation.json index 633e8e5109851e7468103e509308c1afbeae5333..f6cb675f0019b3568578d5b7dc479168b3a62c55 100644 --- a/universalrobots_ur10/.metadata/ur10_validation.json +++ b/universalrobots_ur10/.metadata/universalrobots_ur10_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur10/com.nvidia.simready.packaging.json b/universalrobots_ur10/com.nvidia.simready.packaging.json index a34f50d48ac21392978b137f70f707e36bf7c4ae..1ffa019e148ebffa2091904ccc0179c1db1440b7 100644 --- a/universalrobots_ur10/com.nvidia.simready.packaging.json +++ b/universalrobots_ur10/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "e8b7097bfc6a974c4a7108b780f34346a9d5cabf1c34d685d28fd2ecc4e52fc9" + "sha256": "a45de9648807e186dce9568d0ca2cfb0bfe1de8c807269533d519ecddd34bf43" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "3b8c5e88da554c91e17ed4ae49c77e8e1dc054d65dd4791853f77730ae2b5f14" + "sha256": "4dd8d11f642cc08bfe98b89d58f31eedf8268846f4f68d1c27cd8934fa4e0e4f" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur10_benchmark.json", + "name": "universalrobots_ur10_benchmark.json", "hash": { - "sha256": "4ce0b8dff305f55b357eadae472fc00e94d59d241493cf3873642671fafbb478" + "sha256": "01cabc53e99b1e6b980121c068899536c1fdb9e17a7e57f9f13eb537af6263e2" } }, { - "name": "ur10_validation.json", + "name": "universalrobots_ur10_validation.json", "hash": { - "sha256": "73d9c12c5ef7db94c0ba06935d24cc74d59a2537b3d0efb7df9a82fc2780bc2c" + "sha256": "a1337a19cb9cdb3800ec8f7d341b856d85e2cb5055da16078bd9e919ba6b7ba8" } } ], @@ -44,6 +44,6 @@ "sha256": "beb5f8537103ed02f63e847b72167592a76b078bc1e4fe1e3f31cbf83516ce07" }, "package_hash": { - "sha256": "a96fd42fb235adf7dce3f55e9485b44f9c48c6cba3ad5af9cdc53b1e201c61f5" + "sha256": "1ccbf3572c7e5c1d013e33773a8a1a66879732676bdeb3931f9c8aa6716b0c11" } } diff --git a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index c12806ab4fb046c91d74b8edb8f9656f89e8ce53..2e3d2f1ee055551a6d32d010729ba8c9fb083bca 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:36", + "timestamp": "2026-11-03T23:36:39", "assets": [ { "asset": "ur10e.usda", diff --git a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 7393fba671a63542287174b0babcb01b652e28b3..2f04e7ed9712ebcb00d0bff583ee333a2f582273 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur10e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:39", + "timestamp": "2026-11-03T23:36:42", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json index c6f57fc199494b7e7a557c7312b6784e19044328..2358b3a9a320ab02c522bd4bfafa1a68b4b93fbc 100644 --- a/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur10e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur10e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur10e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur10e.usda.png", diff --git a/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json b/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json index 3eb4ce6bfdf65333560c7f2af9f477a7994471d8..cade9bdb56f2f8214b26d785acc1ead7bd4ae9fc 100644 --- a/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json +++ b/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json @@ -232,7 +232,10 @@ }, "profile_id": "Robot-Gripper", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json b/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json index 394c82c27e96ba3685d8cae17ec24bf25245ea82..b780a1d1d48a37dd6806a37e4e82702df74af5bc 100644 --- a/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json +++ b/universalrobots_ur10e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json @@ -232,7 +232,10 @@ }, "profile_id": "Robot-Gripper", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur10e/.metadata/ur10e_benchmark.json b/universalrobots_ur10e/.metadata/universalrobots_ur10e_benchmark.json similarity index 99% rename from universalrobots_ur10e/.metadata/ur10e_benchmark.json rename to universalrobots_ur10e/.metadata/universalrobots_ur10e_benchmark.json index f9818820078f013999d61af420c5b7d4c33d5e00..58dcae20e9bd3b413e16dba100836049d2addfbb 100644 --- a/universalrobots_ur10e/.metadata/ur10e_benchmark.json +++ b/universalrobots_ur10e/.metadata/universalrobots_ur10e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur10e", + "asset": "universalrobots_ur10e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur10e/.metadata/ur10e_validation.json b/universalrobots_ur10e/.metadata/universalrobots_ur10e_validation.json similarity index 97% rename from universalrobots_ur10e/.metadata/ur10e_validation.json rename to universalrobots_ur10e/.metadata/universalrobots_ur10e_validation.json index 96712b3a6d8b4dda2da254c5c5da17b83076bdc0..bf609e9db92ec263b675a7f3c26ceb0d94001711 100644 --- a/universalrobots_ur10e/.metadata/ur10e_validation.json +++ b/universalrobots_ur10e/.metadata/universalrobots_ur10e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur10e/com.nvidia.simready.packaging.json b/universalrobots_ur10e/com.nvidia.simready.packaging.json index 6c9fc0fc007d85d7d6a011c2fe18375fa3bb9e7e..951ef30143370ea4a8032f8d728fdd5e03a4205a 100644 --- a/universalrobots_ur10e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur10e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur10e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0e7d33701d463b83c15312096fe6d8e5b4ecb19344163b808a3a514f6f6fa50e" + "sha256": "ed279e8db9b084788f7a2ca2f7967da3ff667220c4f46838e698d2608a7024a2" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e6bc891ae60b7cc190e6af28c6c5acfe1b30fb4579d7581adec7fd4b7b8e4a44" + "sha256": "4a3296f754cf2e5dbba3b2024257e4cbf9e9af5baafc781800446acc45b7564e" } }, { @@ -30,7 +30,7 @@ { "name": "dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json", "hash": { - "sha256": "faf2c7b235785f125c89bd7c02c8e2418711caceadf7cf93fef8d9f9c400ea80" + "sha256": "f2375caf2d2a6764ae74eb9790653ceec40f7f4f6fa120baa94591b7b6beb526" } }, { @@ -42,7 +42,7 @@ { "name": "dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json", "hash": { - "sha256": "d0cce19d8f7cd44052c3b0fb176c1db21ce658b2b66007b7fb2346f136ffb30c" + "sha256": "fa784a84e14ed4afe61b676ab2a11c144a9883694472ad0a56a64a24fa708973" } }, { @@ -52,15 +52,15 @@ } }, { - "name": "ur10e_benchmark.json", + "name": "universalrobots_ur10e_benchmark.json", "hash": { - "sha256": "583536abe6199c1e8a79d7eac2274e16976028dfe3d3d8aaabcefe1e3a9d1e7a" + "sha256": "29e7f677bfb683337fb7715159d5218dc03d2c7025d82efc3dcee5a5cfe482c4" } }, { - "name": "ur10e_validation.json", + "name": "universalrobots_ur10e_validation.json", "hash": { - "sha256": "6baf60ecbd22574ba108befc29d41f337029288d3993a15bd3c5ff590a928ff7" + "sha256": "a7514fa1e2ae21a74dee1322bdb69cbabe1f45fc05d3efb1e3e859f08b22351d" } } ], @@ -68,6 +68,6 @@ "sha256": "3daa5642b138bf9cf7a97007b5284548401df742dddb2d1b451cf722a4f38295" }, "package_hash": { - "sha256": "1e5b8bf9f715aa2df0148134e8a61635cc3fa5bb261ec8472a7d4b61b85e4f63" + "sha256": "2532d6d0079f34784d09ef884e4b4a0bb95acb0ca16728c4ef7a5657994b0f10" } } diff --git a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index a6364669789ead8fc50188a831ec5169e6edd0df..20b0e7a63fde16dbb9f0bb6601bca2b3cfd07cd5 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:40", + "timestamp": "2026-11-03T23:36:43", "assets": [ { "asset": "ur12e.usda", diff --git a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 880e4748650f31254b49342795f05b645520406d..2030861b9cd0b2349945bbfb394898fe3c005883 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur12e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:43", + "timestamp": "2026-11-03T23:36:45", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json index d9045c32ba95366e10939ed9a9b05273725a2add..b5873679deb217aa5349770e762ea49137b73db1 100644 --- a/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur12e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur12e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur12e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur12e.usda.png", diff --git a/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json b/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json index 3eb4ce6bfdf65333560c7f2af9f477a7994471d8..cade9bdb56f2f8214b26d785acc1ead7bd4ae9fc 100644 --- a/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json +++ b/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json @@ -232,7 +232,10 @@ }, "profile_id": "Robot-Gripper", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json b/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json index 394c82c27e96ba3685d8cae17ec24bf25245ea82..b780a1d1d48a37dd6806a37e4e82702df74af5bc 100644 --- a/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json +++ b/universalrobots_ur12e/.metadata/dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json @@ -232,7 +232,10 @@ }, "profile_id": "Robot-Gripper", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur12e/.metadata/ur12e_benchmark.json b/universalrobots_ur12e/.metadata/universalrobots_ur12e_benchmark.json similarity index 99% rename from universalrobots_ur12e/.metadata/ur12e_benchmark.json rename to universalrobots_ur12e/.metadata/universalrobots_ur12e_benchmark.json index 1e54787c1f97ea84e63a5bd7946cbe9b08a27522..8390c4dca055b6ded91e2ed63e9f600ebdc50592 100644 --- a/universalrobots_ur12e/.metadata/ur12e_benchmark.json +++ b/universalrobots_ur12e/.metadata/universalrobots_ur12e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur12e", + "asset": "universalrobots_ur12e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/universalrobots_ur12e/.metadata/ur12e_validation.json b/universalrobots_ur12e/.metadata/universalrobots_ur12e_validation.json similarity index 97% rename from universalrobots_ur12e/.metadata/ur12e_validation.json rename to universalrobots_ur12e/.metadata/universalrobots_ur12e_validation.json index b0b1cd756c614f169a66f6fec91110a15beebd4f..063ce92d99aa95585599cf286ded70fb86b1ec73 100644 --- a/universalrobots_ur12e/.metadata/ur12e_validation.json +++ b/universalrobots_ur12e/.metadata/universalrobots_ur12e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur12e/com.nvidia.simready.packaging.json b/universalrobots_ur12e/com.nvidia.simready.packaging.json index 067fb740219cc3bfeb458a6a53c30117c4f91413..35445a04c7b8f0b81afc7435e93336fd84d7a7a1 100644 --- a/universalrobots_ur12e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur12e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur12e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur12e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "7dab9741995b92e8dd29e14a9b663485cd97505537e9a54917afc0222f07addf" + "sha256": "71d2c38ad2a6e3eb1848d6cd96035608cba43c6aeeb5849efdd3951dcfd2ceb6" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "90881cb37e4b04e05a97685fc8cd440f6115b18195ee738f1650b4a25ea3ff46" + "sha256": "57adc703c9fd6bc6252d45118d440b364c7983997f1c79932fedb37122b76ddb" } }, { @@ -30,7 +30,7 @@ { "name": "dependencies/simready_Robotiq_2F-140/simready_Robotiq_2F-140_validation.json", "hash": { - "sha256": "faf2c7b235785f125c89bd7c02c8e2418711caceadf7cf93fef8d9f9c400ea80" + "sha256": "f2375caf2d2a6764ae74eb9790653ceec40f7f4f6fa120baa94591b7b6beb526" } }, { @@ -42,7 +42,7 @@ { "name": "dependencies/simready_Robotiq_2F-85/simready_Robotiq_2F-85_validation.json", "hash": { - "sha256": "d0cce19d8f7cd44052c3b0fb176c1db21ce658b2b66007b7fb2346f136ffb30c" + "sha256": "fa784a84e14ed4afe61b676ab2a11c144a9883694472ad0a56a64a24fa708973" } }, { @@ -52,15 +52,15 @@ } }, { - "name": "ur12e_benchmark.json", + "name": "universalrobots_ur12e_benchmark.json", "hash": { - "sha256": "1520f800f64635ea43f74c1814182fb872db058fd6630875e8eb9dd4ae1c5b55" + "sha256": "f3ab2a0d6bdd5f90caae2bb70473c949bdf40e40c1cde0bd44482322e4912b62" } }, { - "name": "ur12e_validation.json", + "name": "universalrobots_ur12e_validation.json", "hash": { - "sha256": "6d7d27d95aaf52a21d2e80766393b70e78e7a759159227e4cebd75a6a9e3f6f8" + "sha256": "d734028d14ee21dab8b52173b7c59849bdc97bcc1fc2226a78aae3134add7bc7" } } ], @@ -68,6 +68,6 @@ "sha256": "cb8377dffff837b8af14af509c5999597bc9ad7a3a8b4f07be351bc2c2de8f06" }, "package_hash": { - "sha256": "598be533e66dd2897e8be7af8c9321f15aa4920b73eddf29bc771fb44a0a7657" + "sha256": "8709d3d358671f98b9f9452b59ee66f0b33dd27d8e197d7fb156137686f3b7eb" } } diff --git a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index e4ccd1870ffd3c426bf80c82547fae5dd37ca17b..c6eb508ce9f09838c84110135a9aaf4ba705f199 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:44", + "timestamp": "2026-11-03T23:36:46", "assets": [ { "asset": "ur16e.usda", diff --git a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index c8b462930b682252e90ffb493ea48d52a1b85f5b..b21455822ab3366e26380d775f8b172e6d789648 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur16e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:47", + "timestamp": "2026-11-03T23:36:48", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json index b57a04ed5d2c6245f546dcd97c98e7dbbc932726..005a93e26e04831be08ea438ef2cd953ede294fc 100644 --- a/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur16e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur16e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur16e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur16e.usda.png", diff --git a/universalrobots_ur16e/.metadata/ur16e_benchmark.json b/universalrobots_ur16e/.metadata/universalrobots_ur16e_benchmark.json similarity index 99% rename from universalrobots_ur16e/.metadata/ur16e_benchmark.json rename to universalrobots_ur16e/.metadata/universalrobots_ur16e_benchmark.json index d6f6c41ab87008849958043fc52bef73262a1a87..f4500b7030a5d1040561780d40441835e2be2194 100644 --- a/universalrobots_ur16e/.metadata/ur16e_benchmark.json +++ b/universalrobots_ur16e/.metadata/universalrobots_ur16e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur16e", + "asset": "universalrobots_ur16e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur16e/.metadata/ur16e_validation.json b/universalrobots_ur16e/.metadata/universalrobots_ur16e_validation.json similarity index 97% rename from universalrobots_ur16e/.metadata/ur16e_validation.json rename to universalrobots_ur16e/.metadata/universalrobots_ur16e_validation.json index 8e6d1781321fbe3b234ad51e0539f53e1a34e498..6a80ed41a2cc05401ac6307c32732b53a6ab3372 100644 --- a/universalrobots_ur16e/.metadata/ur16e_validation.json +++ b/universalrobots_ur16e/.metadata/universalrobots_ur16e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur16e/com.nvidia.simready.packaging.json b/universalrobots_ur16e/com.nvidia.simready.packaging.json index a68895912a2f7b812510e093888bd1aff9691421..4ef913854f691a9f4ed03ed7e0fbdee4fae5a2bd 100644 --- a/universalrobots_ur16e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur16e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur16e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur16e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "4cbab1c6a3f482c141c03837117c83030c1bf2ca92c8d43e6d816841db79008e" + "sha256": "ae7c659086ec3243d6dfae4311a3f401ed79a29b8bfbc1a4a8e4be55ac49596e" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "55ee50b2e909ac7143bca67f0bf97139073be4246579f6cdbc03b7c14a1136d3" + "sha256": "a67a2fcfeb15ec70a7633e1da43cd4ed3fff6e3c4a6c2258a20f88f5f10a253b" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur16e_benchmark.json", + "name": "universalrobots_ur16e_benchmark.json", "hash": { - "sha256": "c9e1d19c5e7e12aae8c08dff5654eba3c1913941a9d09d7ece5e935530be5710" + "sha256": "5a1494cdd5563909ae7dfc89597a9e829dc8dba4cf044f43ec14abb6093ed25f" } }, { - "name": "ur16e_validation.json", + "name": "universalrobots_ur16e_validation.json", "hash": { - "sha256": "c521c694d1b1fbf6c716853ac4832ba7c75570ea24d4fd6f691c7962aedcd906" + "sha256": "7873db4143336d0e9169f19d82d2c32ba8fe0105e61100a1a4a9cdb89f702793" } } ], @@ -44,6 +44,6 @@ "sha256": "1be0d622c6fabe00e49479f9826a3163688dda61df52844a7473323d6a30eb2b" }, "package_hash": { - "sha256": "5939e1ef319fa2ec692506bd609ae1cad4be4cb7e19a4b65184761ce3863cc67" + "sha256": "53de2b74d8a9d128c44b6bf2d18a70d2fa7742a5d265308810c595f50e8a76a1" } } diff --git a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index cf5d27565f5abed42ce6391a87ba1e2a6981507e..f793436c1a1a6f145588d317d6ec2c83d8e40213 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:48", + "timestamp": "2026-11-03T23:36:49", "assets": [ { "asset": "ur20.usda", diff --git a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 5e7c10964f19e680f878fdc4d3031aa66530bf4a..068cbc3e3c44dd4114557e35434b684fab39cd82 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:50", + "timestamp": "2026-11-03T23:36:51", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json index 296c0a5b6d22d0a7512de9d7bed9db7c6bc41efb..342f4680bbb4d476473999c3d39696db537271c1 100644 --- a/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur20/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur20/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur20/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur20.usda.png", diff --git a/universalrobots_ur20/.metadata/ur20_benchmark.json b/universalrobots_ur20/.metadata/universalrobots_ur20_benchmark.json similarity index 99% rename from universalrobots_ur20/.metadata/ur20_benchmark.json rename to universalrobots_ur20/.metadata/universalrobots_ur20_benchmark.json index 5e0eddf89bbdb84971d31c4e7b0045780e532413..9d76a14098180cb58580a5ced35f2d499bff0f77 100644 --- a/universalrobots_ur20/.metadata/ur20_benchmark.json +++ b/universalrobots_ur20/.metadata/universalrobots_ur20_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur20", + "asset": "universalrobots_ur20", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/universalrobots_ur20/.metadata/ur20_validation.json b/universalrobots_ur20/.metadata/universalrobots_ur20_validation.json similarity index 97% rename from universalrobots_ur20/.metadata/ur20_validation.json rename to universalrobots_ur20/.metadata/universalrobots_ur20_validation.json index 08c903c60ac59b9eff845335995768beab612b72..8835abb536ea7a4a3d3c2f5d714d8b077088931b 100644 --- a/universalrobots_ur20/.metadata/ur20_validation.json +++ b/universalrobots_ur20/.metadata/universalrobots_ur20_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur20/com.nvidia.simready.packaging.json b/universalrobots_ur20/com.nvidia.simready.packaging.json index 0489647f96dcae97e3cd7b369921738472e744ea..b1ecdca390d0b9d643b1cc2ab4c647b1e85656cf 100644 --- a/universalrobots_ur20/com.nvidia.simready.packaging.json +++ b/universalrobots_ur20/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur20.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur20.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "ecf7b21c069a3925636bd82d44eff690d336f15896a6f8f3b916ad48391fc0b1" + "sha256": "c9b604eb38a046db6261004a417fe4ce7604eadc1530a5e650d992c96d26fc15" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "158f87497e49a37bb568acd3e24465126e6075c99fbcdf56b59a802b80eb301c" + "sha256": "389e07698a8b72b2b3ff82d6ab5540957e42e24c370fc357c8ccf23fa8e60cea" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur20_benchmark.json", + "name": "universalrobots_ur20_benchmark.json", "hash": { - "sha256": "4ff12083aa5fc4a11ddf282ce645d9ebcbd44c84cf4b2d6be109ec868d11fb89" + "sha256": "b1d4d0f681b64b33face2ef1871aa2576b5d016784cf06a9fa663bb586291cdd" } }, { - "name": "ur20_validation.json", + "name": "universalrobots_ur20_validation.json", "hash": { - "sha256": "e23bf32755cecc1b47ca1f0f6ed80dac9a48393aa27034ffeedfb4517346de82" + "sha256": "fa7a40cf36bcd91f51bac16f967b3dae8ec27fafafe4b5f225d78490fbac47db" } } ], @@ -44,6 +44,6 @@ "sha256": "daa6b187bf0c00c23e54f0eb907e5932ceb67190b43b721bcb4096c13ae87ce1" }, "package_hash": { - "sha256": "19d3501f075a2242b9fbdcbc0f8bc58db0264800e4d0f5399608493946f913de" + "sha256": "3bb933e6286430bd5b6d67a6ee328cbd79277f548c7058d988330de936c164a8" } } diff --git a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 56e71dbb9b55fd455e2c1c18019c83619f607282..5dcb890564e7ee7bb02efa15219dda834b14240c 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:52", + "timestamp": "2026-11-03T23:36:52", "assets": [ { "asset": "ur3.usda", diff --git a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3ea40a286fbd87b85bb8e12eb6bcb6768315225c..45a05191493d4881ba3385009885a61782a35fc6 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur3/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:54", + "timestamp": "2026-11-03T23:36:54", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json index 2812675f0bdb543904044ccc25717bb044f19b22..63f4b4ad13cd7dbba78fbb2bc313001ed75a423d 100644 --- a/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur3/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur3/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur3/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur3.usda.png", diff --git a/universalrobots_ur3/.metadata/ur3_benchmark.json b/universalrobots_ur3/.metadata/universalrobots_ur3_benchmark.json similarity index 99% rename from universalrobots_ur3/.metadata/ur3_benchmark.json rename to universalrobots_ur3/.metadata/universalrobots_ur3_benchmark.json index 36057b2184a5d80f99f54370c577a6659b47ae20..2c522721bd427194f63f984355e66c40857e82c6 100644 --- a/universalrobots_ur3/.metadata/ur3_benchmark.json +++ b/universalrobots_ur3/.metadata/universalrobots_ur3_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur3", + "asset": "universalrobots_ur3", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur3/.metadata/ur3_validation.json b/universalrobots_ur3/.metadata/universalrobots_ur3_validation.json similarity index 97% rename from universalrobots_ur3/.metadata/ur3_validation.json rename to universalrobots_ur3/.metadata/universalrobots_ur3_validation.json index 73bcdc341cf7ed34582546221bc0b26f6226d4ec..20fce822c324214ce24ae371cbb08bd75b2b9bea 100644 --- a/universalrobots_ur3/.metadata/ur3_validation.json +++ b/universalrobots_ur3/.metadata/universalrobots_ur3_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur3/com.nvidia.simready.packaging.json b/universalrobots_ur3/com.nvidia.simready.packaging.json index 465777e966da68c390d44c719c134fb55e94bfb5..9b765b36cc8a9f2c6819bd40a60b553cc9bad8fa 100644 --- a/universalrobots_ur3/com.nvidia.simready.packaging.json +++ b/universalrobots_ur3/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "41f241133d7ecc3e379dc9c5a79d0f64a991b740f0eacbee713292ff9b73bc24" + "sha256": "cc70dbe8ba36dfa99c170e8a33957e493554a4001258adb6b1c23086f9f4efaa" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e6ff168fa53af173055ab05176225d16d992c69f6d3f30c9f63270927ea01d84" + "sha256": "b35c80eabd1a03b74b4af2fdf058901ca0b0b95657bad7f145ba8c8cebb71f6f" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur3_benchmark.json", + "name": "universalrobots_ur3_benchmark.json", "hash": { - "sha256": "038766749a46b2fd1902dde76f39803d511c72820225a60f088bda6e2229d425" + "sha256": "5d67d4115f6975ad2c2ee5dbae9f3628bf3a0c267028f482394a2118611c5cc7" } }, { - "name": "ur3_validation.json", + "name": "universalrobots_ur3_validation.json", "hash": { - "sha256": "792bda77bee04fa3a269e4951a92bb439f9d2dc2c980d06479e83af5835f9fab" + "sha256": "196dec6bc3ca16a09d98ac269da658d84f962b69d307c7e0e22effd703793acd" } } ], @@ -44,6 +44,6 @@ "sha256": "593ef819537203d5f2aa5e9c9ee5a15fb50f57fac9b822d8430938d17d17db27" }, "package_hash": { - "sha256": "9008e6755af33ef95ded6d334daaf537ebd89c33842ea5c76b796808ba227cff" + "sha256": "f4e391ab6158eeaebd4c76f84e6fcbf21193bf7afed586db1c3652c45d90fe75" } } diff --git a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 7f8dd29a5e489ad721b5cd4b3c88a979210b047e..e3f8331350e94a07c20871f495c40062545036af 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:55", + "timestamp": "2026-11-03T23:36:55", "assets": [ { "asset": "ur30.usda", diff --git a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 040d2ce0da9dc8a18343ff04ac62edc9cf5c3cd0..ed8e80c8a95aa985ea7292a5c7fc11b77ace5c05 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur30/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:27:58", + "timestamp": "2026-11-03T23:36:57", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json index ed962baa7b149af63f229b79658957273982be02..9105daf448b94c38c5e43d87595bb5320ee06488 100644 --- a/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur30/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur30/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur30/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur30.usda.png", diff --git a/universalrobots_ur30/.metadata/ur30_benchmark.json b/universalrobots_ur30/.metadata/universalrobots_ur30_benchmark.json similarity index 99% rename from universalrobots_ur30/.metadata/ur30_benchmark.json rename to universalrobots_ur30/.metadata/universalrobots_ur30_benchmark.json index c060cb3e56f32337f6074e52b3e8a0f9e4af96b6..e9b8304da0ddeaf8850abfd43553f5fbcfa9d359 100644 --- a/universalrobots_ur30/.metadata/ur30_benchmark.json +++ b/universalrobots_ur30/.metadata/universalrobots_ur30_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur30", + "asset": "universalrobots_ur30", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/universalrobots_ur30/.metadata/ur30_validation.json b/universalrobots_ur30/.metadata/universalrobots_ur30_validation.json similarity index 97% rename from universalrobots_ur30/.metadata/ur30_validation.json rename to universalrobots_ur30/.metadata/universalrobots_ur30_validation.json index b245bd87e28b3ab29c71117c7e0c0a84126bf78d..9fd5b801770f0b18fd7a65c0f5c0c881aa43e2e1 100644 --- a/universalrobots_ur30/.metadata/ur30_validation.json +++ b/universalrobots_ur30/.metadata/universalrobots_ur30_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur30/com.nvidia.simready.packaging.json b/universalrobots_ur30/com.nvidia.simready.packaging.json index da13ca804888adfc2fc87dd818e117165b2930a1..c348e92f6b5fb85ff5f1fed510caeea12c9ad0ac 100644 --- a/universalrobots_ur30/com.nvidia.simready.packaging.json +++ b/universalrobots_ur30/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur30.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur30.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "a3756d177598b972bed2d33cd19671d479213638eb3b0cedc98ef521643545cd" + "sha256": "a009785e795f1a3fb1306832468b1adbdb53e2fbeed2dca2295016751911e258" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "e1ed42da9a345111cfe3745d633aa5c8522f5f3983b5b3f313747e2809d40df9" + "sha256": "6553cd873ce12b936957282323aad0a62edda482d159c23a900e729fdb55f1c6" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur30_benchmark.json", + "name": "universalrobots_ur30_benchmark.json", "hash": { - "sha256": "27cbee0d39dd2f2167ccde7a4c1a65aab84ed44795ca34632f53f4ce5a2b05c2" + "sha256": "6debbc52468c2dbc45e5e4c71cfc9828b3b7fd885caca4814a1863ad8a86c584" } }, { - "name": "ur30_validation.json", + "name": "universalrobots_ur30_validation.json", "hash": { - "sha256": "8e0be7313fd956aab6f34fc6daf96e9ea7e4caaf0033d2acd653befd4a861977" + "sha256": "2b0484a760eeb3baaea6274989db1d3eb6af343ac26cb160ba1f47b8f68ea225" } } ], @@ -44,6 +44,6 @@ "sha256": "25abbbf337fd3a60744c1e98a2490fee1ecdc374967e8127022510c735c3d0ae" }, "package_hash": { - "sha256": "fc7e28497e90c104b3a3f65cd6b77419a06de64a71a9f1dc0a810c82a835cb90" + "sha256": "d24cddbdb80f36ea8bc47a3adb2d00aa8621854ccdd47feb8682433fbad21445" } } diff --git a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ad2ca0cc7d2a3dc79f65841e4c470017e784b040..22f258165e5e40953658266dd49100dd3f0b04fb 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:27:59", + "timestamp": "2026-11-03T23:36:58", "assets": [ { "asset": "ur3e.usda", diff --git a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 3da4e25785c65ed1b475cfcbe4c353e0d49f8429..24ba6504effb6c5753d22717c87e88311c78afe6 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur3e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:01", + "timestamp": "2026-11-03T23:37:00", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json index 573cbbe62f1049228d14e026e2c48fabe44892b8..d133deff18c383f021ff95f0badf19f8976bed3e 100644 --- a/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur3e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur3e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur3e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur3e.usda.png", diff --git a/universalrobots_ur3e/.metadata/ur3e_benchmark.json b/universalrobots_ur3e/.metadata/universalrobots_ur3e_benchmark.json similarity index 99% rename from universalrobots_ur3e/.metadata/ur3e_benchmark.json rename to universalrobots_ur3e/.metadata/universalrobots_ur3e_benchmark.json index 153a93e53937fc844b76e0353487143d76253e06..cc6d49716a282c1670530a5624287096de6e02b9 100644 --- a/universalrobots_ur3e/.metadata/ur3e_benchmark.json +++ b/universalrobots_ur3e/.metadata/universalrobots_ur3e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur3e", + "asset": "universalrobots_ur3e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur3e/.metadata/ur3e_validation.json b/universalrobots_ur3e/.metadata/universalrobots_ur3e_validation.json similarity index 97% rename from universalrobots_ur3e/.metadata/ur3e_validation.json rename to universalrobots_ur3e/.metadata/universalrobots_ur3e_validation.json index 718ff6b3c13c2293f668cf42de10365e0970aa53..5244f32a68cd9b6d30732fb63f802e82dd76169a 100644 --- a/universalrobots_ur3e/.metadata/ur3e_validation.json +++ b/universalrobots_ur3e/.metadata/universalrobots_ur3e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur3e/com.nvidia.simready.packaging.json b/universalrobots_ur3e/com.nvidia.simready.packaging.json index 5f68b178d2591c0a22fb8f9809cf6f0717ad2530..e9af89d2ebbcdc9261ae4aba23828ef4795694ec 100644 --- a/universalrobots_ur3e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur3e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur3e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "3ea88177a554dd0fcb4878f7a87e912318b55573d62a809313531aba073f27d6" + "sha256": "e62ed4f3b0be668f029587f7637704d565a4ffd548eba34a2e2983f681a23777" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b4c3803f253658c919918ba457ce0bd134d357f6a3b3c6733c7b4d104be679ff" + "sha256": "0ecf861f26b3ff79f63523cd6084244b2e0f094d62dcf580e04ea1722c9b5742" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur3e_benchmark.json", + "name": "universalrobots_ur3e_benchmark.json", "hash": { - "sha256": "504c4519f663126d9cd81c8ab019cc397d109daf3f12bd675b9ebbb0d6f149e4" + "sha256": "5a5993c413eb7b0d23fa043e9f7ff362b0c6b3f5d557223a0fd77bfa61d1e84f" } }, { - "name": "ur3e_validation.json", + "name": "universalrobots_ur3e_validation.json", "hash": { - "sha256": "37f09f0a593f7fb0adf27257bcf91fe3b5186e33897318561383cb4370cc6c0a" + "sha256": "75cc1522b3485f1e1a4d8a0d419f4ef54627a497e7ce3ac78a857586816d975e" } } ], @@ -44,6 +44,6 @@ "sha256": "76170205d7b60f2a1a01b013e7f6df53e3126c4347244165a393bc99eb5196eb" }, "package_hash": { - "sha256": "9fb92372bdbd9a6adf3fbf618788429e792e440520042398da0151d4890c53d3" + "sha256": "dcc2930f6b3c75c7bfc12ac62c2b843916173d7f3794f375d97cd60534d1427f" } } diff --git a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 36e5a7b0565533103306888d5c24623335b90850..2269c0f215ef2a130bcd800b7628815b2f1cacac 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:03", + "timestamp": "2026-11-03T23:37:01", "assets": [ { "asset": "ur5.usda", diff --git a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index afb296398b4b981815facbbc47fea1f82798680e..9cad8f33e527195c7525c7fbf3eb5b620e6bb613 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur5/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:05", + "timestamp": "2026-11-03T23:37:03", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json index 646aef2b68eb30dee9fbe6c169674e52fd61f6dc..465c04aaf7708d4b7952779c8253403e4cfd7cf6 100644 --- a/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur5/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur5/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur5/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur5.usda.png", diff --git a/universalrobots_ur5/.metadata/ur5_benchmark.json b/universalrobots_ur5/.metadata/universalrobots_ur5_benchmark.json similarity index 99% rename from universalrobots_ur5/.metadata/ur5_benchmark.json rename to universalrobots_ur5/.metadata/universalrobots_ur5_benchmark.json index 86e6df2dc6d8dc87cd5c7b18c207bd79cebc5500..69b1ed2c3d5e58abee751800ffde7d461ce146ac 100644 --- a/universalrobots_ur5/.metadata/ur5_benchmark.json +++ b/universalrobots_ur5/.metadata/universalrobots_ur5_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur5", + "asset": "universalrobots_ur5", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur5/.metadata/ur5_validation.json b/universalrobots_ur5/.metadata/universalrobots_ur5_validation.json similarity index 97% rename from universalrobots_ur5/.metadata/ur5_validation.json rename to universalrobots_ur5/.metadata/universalrobots_ur5_validation.json index 6746309b14ec6b7261e538f37da015bbeba4fdff..7514e54dd1135114ab14ca54d5d04ab3dfeebef9 100644 --- a/universalrobots_ur5/.metadata/ur5_validation.json +++ b/universalrobots_ur5/.metadata/universalrobots_ur5_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur5/com.nvidia.simready.packaging.json b/universalrobots_ur5/com.nvidia.simready.packaging.json index 0a19f8aee47298c92bb21e516fa3342c0597f878..21dc3d9fe0fe74b8e03ce75ee4a5a884a067f393 100644 --- a/universalrobots_ur5/com.nvidia.simready.packaging.json +++ b/universalrobots_ur5/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2ec740a001807e3378974abc5008badc479a3f4094d11cc4b5997578b6c0cf81" + "sha256": "de52b4c12f1d1cb3616e62a4ebc296d99f987bd9ae3331ae44732175afaa1386" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "b48e13a8506e23c293b1c7dba3aeec1f0edc4b061a4f176649f4ebcb7adbebc5" + "sha256": "5421491f97c0b7a86eb19ad4387e8a972fd0125104c703afa5f8001787a58621" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur5_benchmark.json", + "name": "universalrobots_ur5_benchmark.json", "hash": { - "sha256": "b82fc506e2e0c0460d7336cdfde60f498cec4d0127f94a5a36c0087bd58139d7" + "sha256": "f22de4d75b312352ff030a7b449aa53198d4141c376a677bc125e89c34a4184c" } }, { - "name": "ur5_validation.json", + "name": "universalrobots_ur5_validation.json", "hash": { - "sha256": "ba9ade6df95dca819f4537bbc2efcb33b7a8e3bab8bc8bae27dff561c79a09e6" + "sha256": "b817d869558dd2b02cb5730cb17e9cca6f4f46d354644ae014ac89eb409771b2" } } ], @@ -44,6 +44,6 @@ "sha256": "c5042cfd1dbb757fba2ea8d67e06aab0a5c571199d4976c3aebb552019b7d048" }, "package_hash": { - "sha256": "656c451ea8a801c4b36d2404d43421ef3ab5378ab542263637559ae6d2472b67" + "sha256": "e0f53105431928051447befbba67e8c4b8e642af2617f8d48a02961f6b9ac691" } } diff --git a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 3ed2147216d5d9648f844c51ca845362fd02b584..d8463f9125f658e285f60511c724a0fff2666484 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:06", + "timestamp": "2026-11-03T23:37:04", "assets": [ { "asset": "ur5e.usda", diff --git a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 34cab09a0ee5ad09d288849c5e588bddc3953db8..dbdec25679386539bec9dc86a2b344d67ea2289b 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:09", + "timestamp": "2026-11-03T23:37:06", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json index 62d6db1ebb31dfa295980eeeb45e05af1b424406..43a69de590ed2d1bbfe19aff1e5aa5cd411f3ec9 100644 --- a/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur5e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur5e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur5e.usda.png", diff --git a/universalrobots_ur5e/.metadata/ur5e_benchmark.json b/universalrobots_ur5e/.metadata/universalrobots_ur5e_benchmark.json similarity index 99% rename from universalrobots_ur5e/.metadata/ur5e_benchmark.json rename to universalrobots_ur5e/.metadata/universalrobots_ur5e_benchmark.json index 9d2677eae278f0b94b69623731fb052a5812ca98..f99c6f0ef2eb563b39fd2360036127cfe7c5798c 100644 --- a/universalrobots_ur5e/.metadata/ur5e_benchmark.json +++ b/universalrobots_ur5e/.metadata/universalrobots_ur5e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur5e", + "asset": "universalrobots_ur5e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": true, "results": [ diff --git a/universalrobots_ur5e/.metadata/ur5e_validation.json b/universalrobots_ur5e/.metadata/universalrobots_ur5e_validation.json similarity index 97% rename from universalrobots_ur5e/.metadata/ur5e_validation.json rename to universalrobots_ur5e/.metadata/universalrobots_ur5e_validation.json index 658bf2d3c3055ff4b85d3098daee545cd8ddec42..559c424b4af3a9c9454b993ca6909a3e24d919c9 100644 --- a/universalrobots_ur5e/.metadata/ur5e_validation.json +++ b/universalrobots_ur5e/.metadata/universalrobots_ur5e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur5e/com.nvidia.simready.packaging.json b/universalrobots_ur5e/com.nvidia.simready.packaging.json index e45d4153c16fca2a1ed83c3313a76a85c8c8c698..0d5cd68b6eaa80b0317d5954d607d052df852434 100644 --- a/universalrobots_ur5e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur5e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur5e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "13ecfff5055831087f1b73cacae5c63a82aaa9efcbc468ed2849e441270c9b9c" + "sha256": "7af4caf4062e3dfb51c11960b6021fe42b116a70781f7f1a770e7ef566fdffe3" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "ff84120b1b5cbd5de64ef54d2a17a2f3013734c52d5c6886847b8d5ab1020e0e" + "sha256": "6cb9f1a8a032e9d203932a54ea4021b52b01f1c4d86e05ffe4e0963f0d172eb1" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur5e_benchmark.json", + "name": "universalrobots_ur5e_benchmark.json", "hash": { - "sha256": "8892e30b5324d62e25fc9e46f810a407b1748743e58fa946ec484a208aec9ab6" + "sha256": "0203d8af3e6a59206b9c189230434f5c0f11b7a724f6c4fcf694cb959122ed65" } }, { - "name": "ur5e_validation.json", + "name": "universalrobots_ur5e_validation.json", "hash": { - "sha256": "ec6f6e5b7015a37528e26fc7212792f1f5acda83be8fa9705402697dba18eebe" + "sha256": "e5817b792ad508b9f7cc5f0d489b22b6d2436ea7ce5118317dd639d5aa40be50" } } ], @@ -44,6 +44,6 @@ "sha256": "af0c77a7565e0faba4ed7c393eeb308e1e3394667773f73c55f7b75514077795" }, "package_hash": { - "sha256": "5db4c88f84462aa4d8b8eb3d40708535fe80cc4dc734eda54e96a44678c9992d" + "sha256": "ec8c8d681fa3fe827c83236117505eed27790b38bf50569903590d10573821e3" } } diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index bb653f8b4377563f8f809cb1b85353926766931e..1289f66de592dd78ffd5a259b834fa64d1045988 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:10", + "timestamp": "2026-11-03T23:37:07", "assets": [ { "asset": "ur7e.usda", diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4eacec4587b45878d91c458df4044ba2129b73a7..a8c1c6efe0c60b90c2044985c51b7939c76ee3e2 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:13", + "timestamp": "2026-11-03T23:37:09", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json b/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json index cd93f6c330f27abe388d67f8f78e9028de16a6a9..91e7a257f6f0e39194813ee8b6e4335ffdb78185 100644 --- a/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json +++ b/universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/universalrobots_ur7e/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/universalrobots_ur7e/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/ur7e.usda.png", diff --git a/universalrobots_ur7e/.metadata/ur7e_benchmark.json b/universalrobots_ur7e/.metadata/universalrobots_ur7e_benchmark.json similarity index 99% rename from universalrobots_ur7e/.metadata/ur7e_benchmark.json rename to universalrobots_ur7e/.metadata/universalrobots_ur7e_benchmark.json index cbd5d7d3b18795d469e377e244e6212a09e017b2..8c36c43061e8a75b28fa4e7932e066ed017e0f39 100644 --- a/universalrobots_ur7e/.metadata/ur7e_benchmark.json +++ b/universalrobots_ur7e/.metadata/universalrobots_ur7e_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "ur7e", + "asset": "universalrobots_ur7e", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/universalrobots_ur7e/.metadata/ur7e_validation.json b/universalrobots_ur7e/.metadata/universalrobots_ur7e_validation.json similarity index 97% rename from universalrobots_ur7e/.metadata/ur7e_validation.json rename to universalrobots_ur7e/.metadata/universalrobots_ur7e_validation.json index 2374e8a182d07ca1f904af8d52d233eac3507b3d..f36e0c4d5120dcde5e666e34d8b692fcd63025a5 100644 --- a/universalrobots_ur7e/.metadata/ur7e_validation.json +++ b/universalrobots_ur7e/.metadata/universalrobots_ur7e_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/universalrobots_ur7e/com.nvidia.simready.packaging.json b/universalrobots_ur7e/com.nvidia.simready.packaging.json index 3f47de1473054e5918f3322bf7532f232cd1be98..1f97fc3bd5721256f5e8c0194847ae870665c927 100644 --- a/universalrobots_ur7e/com.nvidia.simready.packaging.json +++ b/universalrobots_ur7e/com.nvidia.simready.packaging.json @@ -1,18 +1,18 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur7e.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.universalrobots_ur7e.3.0.2", "license": "BSD-3-Clause", "metadata": [ { "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "cccf6ed3dc056857ee6e99d1748f597e9ab870ec9d13688020dba33a71d19e34" + "sha256": "9ba63be9ad9bdd9ce9663fa4a82eb22abb4a019bb13ebeea0cd73cc23bb0cbab" } }, { "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "58ed55b31837e4485854a679aa5f39f5d9642d9189b081952d49df6bc9a6a670" + "sha256": "9a7f91d5c531455b4c79135f3b89b851d573318220ba115d98d33d9414753a28" } }, { @@ -28,15 +28,15 @@ } }, { - "name": "ur7e_benchmark.json", + "name": "universalrobots_ur7e_benchmark.json", "hash": { - "sha256": "c5563869ddb58d3aab210527bc1e53f91d7cba6926e22f27cb7d27032354eb8b" + "sha256": "d8dec1df954ea734224303850513569fa3c8359e931458a594383e0d7d63e984" } }, { - "name": "ur7e_validation.json", + "name": "universalrobots_ur7e_validation.json", "hash": { - "sha256": "fe3416c9d0232d21fd8b3611d918d83699df14086e2a09bb9cee1dd0cf4e1aa4" + "sha256": "06e52d820b1761b5616869d524c6c096c8c6a7cb58bfe47ee3586c79099a039a" } } ], @@ -44,6 +44,6 @@ "sha256": "2db36b301435ff86b895124091b3c676fcf2769ab1436435fb98a9baaf466b98" }, "package_hash": { - "sha256": "7bb5a3dc17de009e7894ca7c87ab5c344e94c64af7fd6a15fd5b9339ea758800" + "sha256": "cb3b3d4a8836e1395af49f6013603be3b6b2a50b586c0113beac2212009cb57f" } } diff --git a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json deleted file mode 100644 index 0bbed11d08fbae5b03e4c2d79f544d76d852b634..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ /dev/null @@ -1,34 +0,0 @@ -{ - 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World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.39, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.234, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ground_stability_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.391, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "ground_stability_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "ik_target_reach", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 13.343, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Yahboom/Dofbot/simready_usd/dofbot.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. A missing compatible descriptor is insufficient IK evidence [message abbreviated]", - "metrics": {}, - "kit_logs": [], - "execution_status": "error", - "failure_category": "test_or_runtime_error" - }, - { - "test_name": "ik_target_reach_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "incomplete", - "passed": false, - "duration": 100.156, - "message": "Test setup/runtime error (RuntimeError): IK Target Reach cannot run: no Lula descriptor matched this asset. Asset path: './P4Dev/dev/simready_next/Projects/simready_content/common_assets/robot_bodies/Yahboom/Dofbot/simready_usd/dofbot.usda' isaac:robotType: 'ARM' Supported model keys: Franka, FR3, UR3, UR3e, UR5, UR5e, UR10, UR10e, UR16e, Kinova_Gen3, Cobotta_Pro_900, Cobotta_Pro_1300, Denso_Cobotta, Festo_Cobot, Rethink_Sawyer, Rizon4 Check the selected robot, installed Lula policy map and any explicit lula_robot_name/lula_yaml_path/lula_urdf_path configuration. A YAML/URDF pair must describe this actual mechanism, joint order and end-effector frame; do not rename or retag a different robot merely to select a policy. 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"name": "jik_target_002_joint_000", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 2, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint1", - 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"source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 2, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1048.0, - 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"verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Left_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_005.json", - "csv": "motion_history/jik_target_003_joint_005.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_006": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_006", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Left_03_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_03_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 0.11999999731779099 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_006.json", - "csv": "motion_history/jik_target_003_joint_006.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_007": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Left_02_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_02_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 0.11999999731779099 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_007.json", - "csv": "motion_history/jik_target_003_joint_007.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_008": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": false, - "commanded_independently": true, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Right_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_008.json", - "csv": "motion_history/jik_target_003_joint_008.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_009": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_009", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Right_03_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_03_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 0.11999999731779099 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_009.json", - "csv": "motion_history/jik_target_003_joint_009.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_010": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_010", - "channels": { - "position": { - "unit": "rad", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Right_02_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_02_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 0.0, - "damping": 0.0, - "max_force": 0.11999999731779099 - } - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_010.json", - "csv": "motion_history/jik_target_003_joint_010.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_011": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_011", - "channels": { - "position": { - "unit": "unknown_native", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Right_02_SphericalJoint:0", - "unit": "unknown_native", - "unit_basis": "joint identity/type unresolved; native tensor units not inferred", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_02/Finger_Right_02_SphericalJoint" - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_011.json", - "csv": "motion_history/jik_target_003_joint_011.csv" - }, - "unit": null - }, - "motion_history_jik_target_003_joint_012": { - "value": { - "schema_version": 1, - "name": "jik_target_003_joint_012", - "channels": { - "position": { - "unit": "unknown_native", - "source": "constraint/passive-owned articulation readback" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "target_index": 3, - "target_reachable": true, - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "locked_dof": true, - "commanded_independently": false, - "observation_basis": "target-local nominal steps during interpolation and hold only; FK sampling, solver perturbations and rendering ticks excluded", - "verdict_basis": "existing final live end-effector position error and solver orientation error; joint plots alone do not establish those tolerances", - "end_effector_position_tolerance_m": 0.05, - "joint_name": "Finger_Right_02_SphericalJoint:1", - "unit": "unknown_native", - "unit_basis": "joint identity/type unresolved; native tensor units not inferred", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_02/Finger_Right_02_SphericalJoint" - }, - "clock_source": "estimated", - "stop_reason": "target_playback_and_hold_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 135, - "json": "motion_history/jik_target_003_joint_012.json", - "csv": "motion_history/jik_target_003_joint_012.csv" - }, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "joint_movement", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 199.593, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 16.27, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 45, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 361.56, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.5, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_rot_deg": { - "value": 30.001, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_trans_pct": { - "value": 1.62, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_bbox_m": { - "value": 0.1363, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_translation_stage_units": { - "value": 0.0022095965318416704, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_bbox_diagonal_stage_units": { - "value": 0.13626759622362725, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_translation_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_translation_basis": { - "value": "frozen_reference_world", - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_translation_evidence_basis": { - "value": "trial_with_maximum_normalized_translation", - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_bbox_diagonal_unit": { - "value": "stage_length", - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_bbox_purposes": { - "value": [ - "default", - "render", - "proxy" - ], - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_pct_of_travel": { - "value": 100.0, - "unit": null - }, - "jm_joint_Wrist_Twist_RevoluteJoint_pct_of_travel_basis": { - "value": "capped_relative_body_motion_over_authored_endpoint_magnitude", - "unit": null - }, - "jm_joint_Finger_Left_01_RevoluteJoint_rot_deg": { - "value": 30.044, - "unit": null - }, - "jm_joint_Finger_Left_01_RevoluteJoint_trans_pct": { - "value": 21.74, - "unit": null - }, - "jm_joint_Finger_Left_01_RevoluteJoint_bbox_m": { - "value": 0.1041, - "unit": null - }, - "jm_joint_Finger_Left_01_RevoluteJoint_translation_stage_units": { - 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}, - "unit": null - }, - "motion_history_joint_movement_009": { - "value": { - "schema_version": 1, - "name": "joint_movement_009", - "channels": { - "rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint2", - "authored_joint_name": "joint2", - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "child_body_path": "/World/AssetRoot/Asset/link2", - "parent_body_path": "/World/AssetRoot/Asset/link1", - 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"rotation_delta": { - "unit": "deg", - "source": "relative body rotation change from trial reference" - }, - "translation_delta": { - "unit": "stage_length", - "source": "parent-relative displacement magnitude in frozen reference-world stage units" - }, - "translation_x": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_y": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - }, - "translation_z": { - "unit": "stage_length", - "source": "parent-relative displacement along frozen reference-world axes" - } - }, - "metadata": { - "joint_name": "joint1", - "authored_joint_name": "joint1", - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "child_body_path": "/World/AssetRoot/Asset/link1", - "parent_body_path": "/World/AssetRoot/Asset/base_link", - "reference_frame": "/World/AssetRoot/Asset/base_link", - "phase": "newton_position_drive", - "physics_fps": 240, - "clock_basis": "nominal observed physics-step index / configured physics_fps; warmup, reset and render ticks excluded", - "measurement_basis": "live child-body rotation in parent frame; translation mapped through frozen reference-parent linear transform into reference-world stage units; not joint-coordinate or contact evidence", - "translation_axes": "frozen reference-world axes; common parent motion excluded", - "meters_per_unit": 1.0 - }, - "clock_source": "estimated", - "stop_reason": "observation_budget_exhausted", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 180, - "json": "motion_history/joint_movement_010.json", - "csv": "motion_history/joint_movement_010.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 55.265, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 29.127, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 970.9, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.437, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.896552, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 26, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.941194, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.033191, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "light_response", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 55.265, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 29.127, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 30, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 970.9, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.437, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "light_response_variation_ratio": { - "value": 0.896552, - "unit": null - }, - "light_response_blank_ratio": { - "value": 0.0, - "unit": null - }, - "light_response_blank_frames": { - "value": 0, - "unit": null - }, - "light_response_total_frames": { - "value": 30, - "unit": null - }, - "light_response_total_pairs": { - "value": 29, - "unit": null - }, - "light_response_different_pairs": { - "value": 26, - "unit": null - }, - "light_response_passed": { - "value": 1, - "unit": null - }, - "light_response_max_pair_change": { - "value": 0.941194, - "unit": null - }, - "light_response_min_pair_change": { - "value": 0.033191, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 58.594, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.983, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 796.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 55, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 11177, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mdl_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 58.594, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 3.983, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 796.6, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mdl_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "mdl_surface_materials_total": { - "value": 55, - "unit": null - }, - "mdl_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mdl_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mdl_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_render_context_order": { - "value": "mdl", - "unit": null - }, - "mdl_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mdl_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "mdl_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mdl_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mdl_surface_silhouette_pixels": { - "value": 11177, - "unit": null - }, - "mdl_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mdl_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 2.063, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions can still carry authored API tokens; this does not count all raw APIs or prove the asset has no coupling.\n\nIf active mimic coupling is expected, inspect the selected composed variant, enable state, reference and runtime DOF mapping, and importer/solver support. No response verdict was evaluated. Do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/mimic-api-check.md (DJ.007)\n Example: sample_content/common_assets/robots_general/Robotiq/2F-85/simready_usd/runnables/physics/physx.usda\n (inspect the selected physics/mimic variants and composed follower bindings)" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "mimic_joint_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 14.563, - "message": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload.", - "metrics": { - "mim_mimic_pairs_detected": { - "value": 0, - "unit": null - }, - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "no_active_mimic_followers", - "reason": "MIM: no active authored mimic follower was identified under the verified loaded asset.\n\nThis optional response test is skipped, not failed. Disabled joints or disabled constraint opinions may retain authored API tokens; this is not a count of all raw APIs or proof that coupling is absent. If active coupling is intended, inspect the composed NewtonMimicAPI relationship newton:mimicJoint, enable state and coefficients, or the compatibility binding actually supported by the installed importer. Confirm the selected runtime variant and importer/solver support before attributing an asset defect. No response verdict was evaluated; do not add a mimic API solely to satisfy this skip.\n\nREFERENCE:\n Spec: nv_core/tiers/simready_foundation_tier_newton/simready/foundation/tier_newton/rules_and_reqs/physics_bodies/physics_driven_joints/requirements/newton-mimic-api.md (NEWTON.DJ.003).\nInspect the composed runtime variant, not an unrelated solver payload." - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "multi_joint_coordination", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 45.109, - "message": "", - "metrics": { - "mjc_joints_without_safe_range": { - "value": [], - "unit": null - }, - "mjc_total_joints": { - "value": 11, - "unit": null - }, - "mjc_valid_joints": { - "value": 7, - "unit": null - }, - "mjc_loop_joints_skipped": { - "value": 4, - "unit": null - }, - "mjc_velocity_hint_fallback_joints": { - "value": 3, - "unit": null - }, - "mjc_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "mjc_timing_iterations": { - "value": [ - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.5026715995063569, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.37700369962976765, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015686670140845076 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.5028947633836651, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.37717107253774884, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015693634326078795 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.5034634798648767, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.37759760989865754, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.001571138203224163 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.503017469716724, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.377263102287543, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015697463573191225 - }, - { - "name": "Wrist_Twist_RevoluteJoint", - "index": 4, - "displacement": 1.0053096491487339, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.7539822368615504, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0031372293304598076 - }, - { - "name": "Finger_Left_01_RevoluteJoint", - "index": 5, - "displacement": 0.16778372733970176, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.1258377955047763, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0005235959199533218 - }, - { - "name": "Finger_Right_01_RevoluteJoint", - "index": 6, - "displacement": 0.16722284623538147, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.1254171346765361, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0005218456008821174 - } - ], - "joints_omitted": 0, - "iteration": 0, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 443 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.7449662387371063, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5587246790528297, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002324786135639023 - }, - { - "name": "joint2", - "index": 1, - "displacement": 0.7527060508728027, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.564529538154602, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002348939455636412 - }, - { - "name": "joint3", - "index": 2, - "displacement": 0.7612954378128052, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5709715783596039, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0023757440094929194 - }, - { - "name": "joint4", - "index": 3, - "displacement": 0.7507080733776093, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.5630310550332069, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.002342704447739763 - }, - { - "name": "Wrist_Twist_RevoluteJoint", - "index": 4, - "displacement": 0.5026548245743667, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.37699111843077504, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0015686146652260646 - }, - { - "name": "Finger_Left_01_RevoluteJoint", - "index": 5, - "displacement": 0.2477760344743728, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.1858320258557796, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007732246909153417 - }, - { - "name": "Finger_Right_01_RevoluteJoint", - "index": 6, - "displacement": 0.24816051423549645, - "velocity_hint": null, - "velocity_hint_source": "configured fallback duration", - "estimated_command_peak_speed": 0.18612038567662234, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007744245214236223 - } - ], - "joints_omitted": 0, - "iteration": 1, - "clock_basis": "completed nominal simulation ticks; render/capture ticks excluded", - "coordinate_basis": "same native runtime joint coordinates for displacement and speed", - "completed_iteration_ticks": 438 - }, - { - "ramp_frames": 480, - "hold_frames": 1440, - "total_frames": 1920, - "ramp_seconds": 2.0, - "hold_seconds": 6.0, - "observation_seconds": 8.0, - "joints": [ - { - "name": "joint1", - "index": 0, - "displacement": 0.23441246151924133, - "velocity_hint": 1.0, - "velocity_hint_source": "runtime joint velocity ceiling", - "estimated_command_peak_speed": 0.175809346139431, - "initial_command_clipped": false, - "estimated_initial_command_step_speed": 0.0007315215270531361 - 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"timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "Finger_Left_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 326, - "json": "motion_history/mjc_joint_005.json", - "csv": "motion_history/mjc_joint_005.csv" - }, - "unit": null - }, - "motion_history_mjc_joint_008": { - "value": { - "schema_version": 1, - "name": "mjc_joint_008", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_target": { - "unit": "rad", - "source": "iteration goal position used by the existing convergence check" - }, - "target_error": { - "unit": "rad", - "source": "absolute measured joint position minus iteration goal" - } - }, - "metadata": { - "clock_basis": "nominal observed physics-step index / configured physics_fps; render and setup ticks excluded", - "physics_fps": 240.0, - "encoded_video_fps": 2, - "capture_interval_steps": 120, - "iterations": 3, - "observation_basis": "cumulative nominal steps across coordination iterations; initial settle and render ticks excluded", - "position_tolerance_config_deg": 1.0, - "applied_native_position_tolerance": 0.017453292519943295, - "tolerance_basis": "existing radians-derived tolerance; does not change linear-joint verdict policy", - "convergence_basis": "existing check records whether each joint entered the goal band at any observation; plot does not assert simultaneous final convergence", - "timing_basis": "shared velocity-aware smoothstep ramp from each iteration's required live start plus preserved configured hold; nominal ticks exclude captures", - "joint_name": "Finger_Right_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "coordination_iterations_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 326, - "json": "motion_history/mjc_joint_008.json", - "csv": "motion_history/mjc_joint_008.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.641, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.143, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 142.88, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.812, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 2.4e-05, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000194, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "normals_xz", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 11.641, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.143, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 8, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 142.88, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.812, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "normals_xz_qualified_frames": { - "value": 8, - "unit": null - }, - "normals_xz_omitted_frames": { - "value": 0, - "unit": null - }, - "normals_xz_omitted_indices": { - "value": [], - "unit": null - }, - "normals_xz_avg_dark": { - "value": 2.4e-05, - "unit": null - }, - "normals_xz_max_dark": { - "value": 0.000194, - "unit": null - }, - "normals_xz_problem_frames": { - "value": 0, - "unit": null - }, - "normals_xz_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 47.203, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.827, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 365.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 55, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 20140, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "openpbr_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 47.203, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 1.827, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 365.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "mtlx_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "mtlx_surface_materials_total": { - "value": 55, - "unit": null - }, - "mtlx_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "mtlx_surface_test_spheres": { - "value": 0, - "unit": null - }, - "mtlx_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_render_context_order": { - "value": "mtlx", - "unit": null - }, - "mtlx_surface_contexts_declared": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "mtlx_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "mtlx_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "mtlx_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "mtlx_surface_silhouette_pixels": { - "value": 20140, - "unit": null - }, - "mtlx_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "mtlx_surface_coverage": { - "value": 1.0, - "unit": null - }, - "mtlx_surface_materialx_validation": { - "value": "off", - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 21.734, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.7, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 135.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 2.6, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "pivot", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 21.734, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.7, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 20, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 135.0, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 2.922, - "unit": null - }, - "_timing_encode_video_count": { - "value": 2, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "pivot_score": { - "value": 0.7, - "unit": null - }, - "pivot_pivot_height_pct": { - "value": 2.6, - "unit": null - }, - "pivot_pivot_at_base": { - "value": 1, - "unit": null - }, - "pivot_pivot_centered_xy": { - "value": 0, - "unit": null - }, - "pivot_ground_penetration": { - "value": 1, - "unit": null - }, - "pivot_orbital_motion": { - "value": 1, - "unit": null - }, - "pivot_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "presence", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.344, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.375, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 187.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.106753, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "presence", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 12.344, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 0.375, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 2, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 187.5, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "presence_diff_ratio": { - "value": 0.106753, - "unit": null - }, - "presence_passed": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 47.531, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.702, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 540.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "universal_surface_materials_total": { - "value": 55, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 20248, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "preview_surface_renders", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 47.531, - "message": "", - "metrics": { - "_timing_capture_frame_total_s": { - "value": 2.702, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 5, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 540.4, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.0, - "unit": null - }, - "_timing_encode_video_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "universal_surface_materials_with_universal": { - "value": 55, - "unit": null - }, - "universal_surface_materials_with_mdl": { - "value": 55, - "unit": null - }, - "universal_surface_materials_with_mtlx": { - "value": 55, - "unit": null - }, - "universal_surface_materials_total": { - "value": 55, - "unit": null - }, - "universal_surface_asset_root": { - "value": "/World/_SimReadySurfaceAsset/Asset", - "unit": null - }, - "universal_surface_test_spheres": { - "value": 0, - "unit": null - }, - "universal_surface_contexts_present": { - "value": "mdl, mtlx, universal", - "unit": null - }, - "universal_surface_render_context_order": { - "value": "universal", - "unit": null - }, - "universal_surface_deinstanced_prims": { - "value": 110, - "unit": null - }, - "universal_surface_instances_remaining": { - "value": 0, - "unit": null - }, - "universal_surface_stronger_bindings": { - "value": 0, - "unit": null - }, - "universal_surface_silhouette_pixels": { - "value": 20248, - "unit": null - }, - "universal_surface_uncovered_pixels": { - "value": 0, - "unit": null - }, - "universal_surface_coverage": { - "value": 1.0, - "unit": null - } - }, - "kit_logs": [ - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: Traceback (most recent call last):" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True) # noqa PLW0212" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: File \"./dev/packages/isaac-sim-standalone-6.1.0-windows-x86_64/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: gf_camera = camera.GetCamera(self.__time)" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: ^^^^^^^^^^^^^^^^" - }, - { - "level": "error", - "channel": "omni.kit.app._impl", - "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'" - } - ] - }, - { - "test_name": "slope_drop", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.281, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "slope_drop_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "skipped", - "passed": false, - "duration": 0.453, - "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.", - "metrics": { - "assessment_applicability": { - "value": { - "status": "not_applicable", - "reason_code": "world_anchored", - "reason": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide." - }, - "unit": null - }, - "slope_drop_skipped": { - "value": 1, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "state_accuracy", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 49.015, - "message": "", - "metrics": { - "sta_joints_with_limits": { - "value": 7, - "unit": null - }, - "sta_joints_skipped_passive": { - "value": 4, - "unit": null - }, - "sta_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "sta_joints_skipped_loop": { - "value": 0, - "unit": null - }, - "sta_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 1.109, - "unit": null - }, - "_timing_capture_frame_count": { - 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}, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "Finger_Left_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 201, - "json": "motion_history/sta_joint_006.json", - "csv": "motion_history/sta_joint_006.csv" - }, - "unit": null - }, - "motion_history_sta_joint_007": { - "value": { - "schema_version": 1, - "name": "sta_joint_007", - "channels": { - "position": { - "unit": "rad", - "source": "RobotHandle articulation position readback" - }, - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "target": { - "unit": "rad", - "source": "position command issued by test" - }, - "final_goal": { - "unit": "rad", - "source": "waypoint destination; not necessarily the issued command" - }, - "error": { - "unit": "rad", - "source": "command minus measured position" - }, - "goal_error": { - "unit": "rad", - "source": "waypoint destination minus position" - } - }, - "metadata": { - "clock_basis": "cumulative observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "position_tolerance_rad": 0.08726646259971647, - "tolerance_basis": "existing angular verdict configuration; not inferred for linear joints", - "joint_name": "Finger_Right_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "waypoint_sequence_completed", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 198, - "json": "motion_history/sta_joint_007.json", - "csv": "motion_history/sta_joint_007.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit", - "engine": "isaac_sim", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 21.578, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 4, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 4, - "unit": null - }, - "vel_joints_with_limits": { - "value": 4, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 3, - "unit": null - }, - "vel_joint_eligibility_omissions": { - "value": [ - { - "name": "Wrist_Twist_RevoluteJoint", - "reason": "no finite increasing bounded travel" - }, - { - "name": "Finger_Left_01_RevoluteJoint", - "reason": "no meaningful comparison ceiling" - }, - { - "name": "Finger_Right_01_RevoluteJoint", - "reason": "no meaningful comparison ceiling" - } - ], - "unit": null - }, - "vel_joint_eligibility_omissions_truncated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.937, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 4, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 234.25, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 0.5, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 4, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1048.0, - "damping": 53.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 16, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1048.0, - "damping": 53.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 21, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1048.0, - "damping": 53.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 20, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof_or_usd_min", - "tolerance_percent": 0.05, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 1048.0, - "damping": 53.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 20, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - } - }, - "kit_logs": [] - }, - { - "test_name": "velocity_limit_newton", - "engine": "isaac_sim_newton", - "engine_version": "6.1.0", - "status": "pass", - "passed": true, - "duration": 70.25, - "message": "", - "metrics": { - "vel_joints_skipped_passive": { - "value": 10, - "unit": null - }, - "vel_joints_skipped_mimic_follower": { - "value": 0, - "unit": null - }, - "vel_joints_skipped_loop": { - "value": 10, - "unit": null - }, - "vel_joints_with_limits": { - "value": 6, - "unit": null - }, - "vel_joints_not_evaluated": { - "value": 1, - "unit": null - }, - "vel_joint_eligibility_omissions": { - "value": [ - { - "name": "Wrist_Twist_RevoluteJoint", - "reason": "no finite increasing bounded travel" - } - ], - "unit": null - }, - "vel_joint_eligibility_omissions_truncated": { - "value": 0, - "unit": null - }, - "vel_velocity_limit_application": { - "value": "reported_success", - "unit": null - }, - "vel_velocity_limit_enforcement": { - "value": "not_verified", - "unit": null - }, - "vel_guard_reference": { - "value": { - "kinematic_span_stage_units": null, - "qualified": false, - "basis": "unqualified_initial_volume_proxy", - "reference_source": "initial live world-aligned bounding-box volume; topology reference could not be qualified" - }, - "unit": null - }, - "_timing_capture_frame_total_s": { - "value": 0.907, - "unit": null - }, - "_timing_capture_frame_count": { - "value": 22, - "unit": null - }, - "_timing_capture_frame_avg_ms": { - "value": 41.23, - "unit": null - }, - "_timing_encode_video_total_s": { - "value": 1.032, - "unit": null - }, - "_timing_encode_video_count": { - "value": 1, - "unit": null - }, - "_render_blank_retry_count": { - "value": 0, - "unit": null - }, - "_render_blank_retry_unrecovered": { - "value": 0, - "unit": null - }, - "vel_joints_passed": { - "value": 6, - "unit": null - }, - "vel_joints_failed": { - "value": 0, - "unit": null - }, - "motion_history_vel_joint_001": { - "value": { - "schema_version": 1, - "name": "vel_joint_001", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint1", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/base_link/joint1", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 115, - "json": "motion_history/vel_joint_001.json", - "csv": "motion_history/vel_joint_001.csv" - }, - "unit": null - }, - "motion_history_vel_joint_002": { - "value": { - "schema_version": 1, - "name": "vel_joint_002", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint2", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link1/joint2", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 113, - "json": "motion_history/vel_joint_002.json", - "csv": "motion_history/vel_joint_002.csv" - }, - "unit": null - }, - "motion_history_vel_joint_003": { - "value": { - "schema_version": 1, - "name": "vel_joint_003", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint3", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link2/joint3", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 117, - "json": "motion_history/vel_joint_003.json", - "csv": "motion_history/vel_joint_003.csv" - }, - "unit": null - }, - "motion_history_vel_joint_004": { - "value": { - "schema_version": 1, - "name": "vel_joint_004", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "joint4", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link3/joint4", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 115, - "json": "motion_history/vel_joint_004.json", - "csv": "motion_history/vel_joint_004.csv" - }, - "unit": null - }, - "motion_history_vel_joint_005": { - "value": { - "schema_version": 1, - "name": "vel_joint_005", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "Finger_Left_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 85, - "json": "motion_history/vel_joint_005.json", - "csv": "motion_history/vel_joint_005.csv" - }, - "unit": null - }, - "motion_history_vel_joint_006": { - "value": { - "schema_version": 1, - "name": "vel_joint_006", - "channels": { - "velocity": { - "unit": "rad/s", - "source": "RobotHandle articulation velocity readback" - }, - "position_target": { - "unit": "rad", - "source": "position command issued by test" - }, - "speed_limit": { - "unit": "rad/s", - "source": "resolved comparison ceiling; see limit_source/provenance" - }, - "allowed_speed": { - "unit": "rad/s", - "source": "speed limit with configured verdict allowance" - } - }, - "metadata": { - "clock_basis": "nominal observed step count / configured physics fps; capture ticks excluded", - "physics_fps": 240.0, - "limit_source": "dof", - "tolerance_percent": 0.05, - "velocity_limit_provenance": { - "qualified_newton_version": "1.2.1", - "qualified_newton_usd_schemas_version": "0.2.0", - "runtime_newton_version": "1.5.0", - "runtime_newton_usd_schemas_version": null, - "joint_limit_basis": "Newton 1.2.1 importer accepts physxJoint:maxJointVelocity; angular USD degrees/s convert to radians/s", - "performance_envelope_basis": "legacy test comparison input; Newton importer support and hard-cap enforcement are not established", - "hard_cap_enforcement": "not established by response observations; Newton 1.2.1 solver feature table lists joint_velocity_limit as unsupported", - "actuator_velocity_limit_basis": "NewtonDCMotorClampingAPI newton:velocityLimit is no-load effort-speed saturation in rad/s or distance/s, not a hard joint-speed cap" - }, - "vel_velocity_limit_application": "reported_success", - "vel_velocity_limit_enforcement": "not_verified", - "joint_name": "Finger_Right_01_RevoluteJoint", - "unit": "rad", - "unit_basis": "articulation tensor angular positions/velocities use radians/radians per second", - "identity_resolved": true, - "prim_path": "/World/AssetRoot/Asset/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint", - "meters_per_unit": 1.0, - "authored_drive": { - "stiffness": 3.40339994430542, - "damping": 0.0, - "max_force": 5.199999809265137 - } - }, - "clock_source": "estimated", - "stop_reason": "velocity_stop_condition", - "partial": false, - "dropped_samples": 0, - "limitations": [], - "dropped_captures": 0, - "sample_count": 85, - "json": "motion_history/vel_joint_006.json", - "csv": "motion_history/vel_joint_006.csv" - }, - "unit": null - } - }, - "kit_logs": [] - } - ] -} diff --git a/yahboom_dofbot/.metadata/dofbot_validation.json b/yahboom_dofbot/.metadata/dofbot_validation.json deleted file mode 100644 index 6b2b5d604c992468b3dcadab8dbc34ef1691f4d1..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/.metadata/dofbot_validation.json +++ /dev/null @@ -1,221 +0,0 @@ -{ - "simready_usd/dofbot.usda": { - "features_summary": { - "CAP000_Core.Isaac.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.MuJoCo.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.Newton.0-1-0": { - "blocking_failure": false, - "dependencies": "['CAP000_Core.OpenUSD.0-1-0']", - "passed": true, - "version": "0-1-0" - }, - "CAP000_Core.OpenUSD.0-1-0": { - "blocking_failure": false, - "dependencies": "[]", - "passed": true, - "version": "0-1-0" - }, - 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}, - "package_hash": { - "sha256": "7852ca4b32399cda8353dc6d6f2728d09e4675b80d9ad2d5876aca660cb6a739" - } -} diff --git a/yahboom_dofbot/dofbot.usda b/yahboom_dofbot/dofbot.usda deleted file mode 100644 index a1a057d4e26a3e0aa03608bb6b648aba901d3426..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/dofbot.usda +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:53cdef49b4b5021698c26d40237196b7004344df8108fc1d7d0790187e0c6fe4 -size 27437970 diff --git a/yahboom_dofbot/materials/mdl/OmniPBR.mdl b/yahboom_dofbot/materials/mdl/OmniPBR.mdl deleted file mode 100644 index bcd0685466a09006ac9e009969d32de43d6d04d9..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/OmniPBR.mdl +++ /dev/null @@ -1,396 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBR_ClearCoat::*; - - -// OmniPBR // - -export material OmniPBR( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity") - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls the repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls the repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 2), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] = let { - -material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat( - diffuse_color_constant: diffuse_color_constant, - diffuse_texture: diffuse_texture, - albedo_desaturation: albedo_desaturation, - albedo_add: albedo_add, - albedo_brightness: albedo_brightness, - diffuse_tint: diffuse_tint, - reflection_roughness_constant: reflection_roughness_constant, - reflection_roughness_texture_influence: reflection_roughness_texture_influence, - reflectionroughness_texture: reflectionroughness_texture, - metallic_constant: metallic_constant, - metallic_texture_influence: metallic_texture_influence, - metallic_texture: metallic_texture, - specular_level: specular_level, - enable_ORM_texture: enable_ORM_texture, - ORM_texture: ORM_texture, - ao_to_diffuse: ao_to_diffuse, - ao_texture: ao_texture, - enable_emission: enable_emission, - emissive_color: emissive_color, - emissive_color_texture: emissive_color_texture, - emissive_mask_texture: emissive_mask_texture, - emissive_intensity: emissive_intensity, - enable_opacity: enable_opacity, - opacity_texture: opacity_texture, - opacity_constant: opacity_constant, - enable_opacity_texture: enable_opacity_texture, - opacity_mode: opacity_mode, - opacity_threshold: opacity_threshold, - geometry_normal_roughness_strength: geometry_normal_roughness_strength, - bump_factor: bump_factor, - normalmap_texture: normalmap_texture, - detail_bump_factor: detail_bump_factor, - detail_normalmap_texture: detail_normalmap_texture, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v, - project_uvw: project_uvw, - world_or_object: world_or_object, - uv_space_index: uv_space_index, - texture_translate: texture_translate, - texture_rotate: texture_rotate, - texture_scale: texture_scale, - detail_texture_translate: detail_texture_translate, - detail_texture_rotate: detail_texture_rotate, - detail_texture_scale: detail_texture_scale, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials -); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/yahboom_dofbot/materials/mdl/OmniPBRBase.mdl b/yahboom_dofbot/materials/mdl/OmniPBRBase.mdl deleted file mode 100644 index 417cec0a705f3ed09ceded3f85f5b919acf8dd20..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/OmniPBRBase.mdl +++ /dev/null @@ -1,470 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -import ::anno::*; - -export float3 HemiOctahedronToUnitVector( float2 Oct ) [[ - anno::hidden() -]] -{ - Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5; - float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) ); - return math::normalize(N); -} - -export struct NormalData [[ - anno::hidden() -]] -{ - float3 normal; - float2 roughness; -}; - -export NormalData tangent_space_normal_roughness_texture( - uniform texture_2d texture - [[ - anno::description("The input texture"), - anno::usage("normal") - ]], - uniform float factor = 1.0f - [[ anno::description("Determines the degree of bumpiness") ]], - uniform bool flip_tangent_u = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - uniform bool flip_tangent_v = false - [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]], - base::texture_coordinate_info uvw = base::texture_coordinate_info() - [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]], - uniform float2 crop_u = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]], - uniform float2 crop_v = float2( 0.0, 1.0) - [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]], - uniform tex::wrap_mode wrap_u = tex::wrap_repeat - [[ anno::description("Wrapping mode in the u direction") ]], - uniform tex::wrap_mode wrap_v = tex::wrap_repeat - [[ anno::description("Wrapping mode in the v direction") ]], - uniform bool clip = false - [[ - anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"), - anno::hidden() - ]], - uniform float scale = 1. - [[ - anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float offset = 0. - [[ - anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"), - anno::unused() - ]], - uniform float animation_start_time = 0. - [[ anno::description("When to start playing first frame of the animation ") ]], - uniform int2 animation_crop = int2(0, 0) - [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]], - uniform tex::wrap_mode animation_wrap = tex::wrap_repeat - [[ anno::description("Defines what to do outside of regular animation time") ]], - uniform float animation_fps = 30 - [[ anno::description("Framerate to use for animation playback") ]] -) -[[ - anno::description("Interprets the color values of a bitmap as a vector in tangent space"), - anno::hidden(), - anno::noinline() -]] -{ - NormalData normalData; - normalData.roughness = float2(0); - normalData.normal = state::normal(); - - float frame = 0.0; - if(animation_crop != int2(0,0)) //only if we have an animation - { - frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation - switch ( animation_wrap) { - case tex::wrap_repeat: - frame=frame>0? math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x: - math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y; - break; - case tex::wrap_mirrored_repeat: - float animation_crop_2y = 2.0*animation_crop.y; - frame=frame>0? math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x: - math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x; - if(frame>animation_crop.y) - frame = animation_crop_2y-frame; - break; - case tex::wrap_clamp: - frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y); - break; - case tex::wrap_clip: - frame += animation_crop.x; - if(frame < animation_crop.x || frame > animation_crop.y) return normalData; - break; - } - } - - if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource - factor == 0.0f) - return normalData; - { - if (clip) { - if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) { - return normalData; - } - if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) { - return normalData; - } - } - bool pixel_flip_u = flip_tangent_u; - bool pixel_flip_v = flip_tangent_v; - //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile - if (wrap_u == tex::wrap_mirrored_repeat) { - if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1) - pixel_flip_u = ! pixel_flip_u; - else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0) - pixel_flip_u = ! pixel_flip_u; - } - if (wrap_v == tex::wrap_mirrored_repeat) { - if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1) - pixel_flip_v = ! pixel_flip_v; - else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0) - pixel_flip_v = ! pixel_flip_v; - } - - float3 transformed_tangent_u = uvw.tangent_u; - float3 transformed_tangent_v = uvw.tangent_v; - - if (pixel_flip_u) - transformed_tangent_u=-transformed_tangent_u; - if (pixel_flip_v) - transformed_tangent_v=-transformed_tangent_v; - - float3 tangent_space_normal; - float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame); - if(normal_raw.x > 1.5) - { - // octahedron packed by OV - normal_raw.x -= 2.0; - normal_raw.x -= 0.5; - normal_raw.y -= 0.5; - tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0); - normalData.roughness = float2(normal_raw.z, normal_raw.w); - } - else - { - // regular - tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0; - normalData.roughness = float2(0); - } - - normalData.normal = math::normalize( - transformed_tangent_u * tangent_space_normal.x * factor + - transformed_tangent_v * tangent_space_normal.y * factor + - state::normal() * tangent_space_normal.z); - - return normalData; -} - - -export material OmniPBRBase( - - - // Albdeo // - - color diffuse_reflection_color = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Albedo Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflecitivity // - - float specular_reflection_roughness = float(0.0) [[ - anno::display_name("Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hidden() - ]], - float metalness = float(0.0) [[ - anno::display_name("Metalness"), - anno::description("Bias towards pure specular reflection"), - anno::in_group("Reflectivity"), - anno::hard_range(0.0, 1.0) - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(0.0, 1.0) - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emission_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - float emission_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::soft_range(0.0, 1000.0), - anno::enable_if("enable_emission == true") - ]], - - - // Geometry Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - float geometry_opacity = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - uniform float geometry_opacity_threshold = 0.f - [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(0.0, 1.0) - ]], - - - // Clearcoat // - - uniform bool enable_coat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a coat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float coat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for coat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - color coat_color = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float coat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float coat_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(0.0, 1.0) - ]], - float2 coat_aniso_roughness = float2(0.0, 0.0) [[ - anno::display_name("Clearcoat aniso roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hidden() - ]], - float coat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the coat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(0.0, 4.0) - ]], - float3 clearcoat_geometry_normal = state::normal() [[ - anno::display_name("Clearcoat Normal"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]], - float3 geometry_normal = state::normal() [[ - anno::display_name("Geometry Normal"), - anno::in_group("Geometry"), - anno::usage("normal") - ]] - -) -[[ - anno::display_name("OmniPBR Base"), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Omni Materials"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) -]] - = let{ - - // Diffuse Bsdf // - - color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint; - - color base_color = tinted_diffuse_color; - - bsdf diffuse_bsdf = df::weighted_layer( - weight: 1.0, - layer: df::diffuse_reflection_bsdf( - tint: base_color, - roughness: float(0.0) - ), - base: bsdf(), - normal: geometry_normal - ); - - // Glossy Reflection Bsdf // - - float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1); - float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness - + specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1); - bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: roughness_u, - roughness_v: roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf custom_curve_layer_bsdf = df::custom_curve_layer( - normal_reflectivity: 0.08, - grazing_reflectivity: 1.0, - exponent: 5.0, - weight: specular_level, - layer: ggx_smith_bsdf, - base: diffuse_bsdf, - normal: geometry_normal - ); - - bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf); - - bsdf omni_PBR_bsdf = df::weighted_layer( - weight: metalness, - layer: directional_factor_bsdf, - base: custom_curve_layer_bsdf, - normal: geometry_normal - ); - - // Clear Coat // - - float coat_roughness_u = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1); - float coat_roughness_v = math::clamp(coat_roughness * coat_roughness - + coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1); - bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf( - roughness_u: coat_roughness_u, - roughness_v: coat_roughness_v, - tint: color(1.0), - mode: df::scatter_reflect - ); - - bsdf opaque_coat = df::weighted_layer( - weight: coat_transparency, - layer: ::df::tint( - tint: coat_color, - base: omni_PBR_bsdf - ), - base: ::df::diffuse_reflection_bsdf( - tint: coat_color - ) - ); - - bsdf omni_PBR_coated_bsdf = df::fresnel_layer( - ior: coat_ior, - weight: coat_weight, - layer: coat_bsdf, - base: opaque_coat, - normal: clearcoat_geometry_normal - ); - - bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf; - - color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0); - - float opacity_value = geometry_opacity; - float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0; - - material_emission emission = material_emission( - df::diffuse_edf(), - intensity: emission_value - ); - - material_surface surface = material_surface( - scattering: final_bsdf, - emission: emission - ); - - material_geometry geometry = material_geometry( - normal: state::rounded_corner_normal( - radius: round_edges_radius, - across_materials: round_edges_across_materials, - roundness: round_edges_roundness - ), - cutout_opacity: cutout_opacity - ); - -} in material( - surface: surface, - geometry: geometry -); diff --git a/yahboom_dofbot/materials/mdl/OmniPBR_ClearCoat.mdl b/yahboom_dofbot/materials/mdl/OmniPBR_ClearCoat.mdl deleted file mode 100644 index 7a2e7e1f06d0708ba56f84998d14b41fdaccf29a..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/OmniPBR_ClearCoat.mdl +++ /dev/null @@ -1,711 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.7; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::base::*; -import ::state::*; -import ::tex::*; -import ::anno::*; - -import ::debug::*; - -import core_definitions::file_texture; -import core_definitions::normalmap_texture; - -import OmniPBRBase::*; - -// Functions // - - -// Returns a matrix from R,T,S. inputs // - -uniform float4x4 rotation_translation_scale( - uniform float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - uniform float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - uniform float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct a transformation matrix from euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0.0 , 0.0 , 0.0, - 0.0 , scaling.y , 0.0 , 0.0, - 0.0 , 0.0 , scaling.z , 0.0, - translation.x , translation.y , translation.z , 1.0); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0.0 , 0.0 , 0 , 1.0); - - return scale * rotate; -} - -// Returns the normal n in tangent space, given n is in internal space. // - -float3 transform_internal_to_tangent(float3 n) -{ - /* flip_tangent_v */ - return - n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+ - n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+ - n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z); -} - -// Returns the normal n in internal space, given n is in tangent space. -float3 transform_tangent_to_internal(float3 n) -{ - return state::texture_tangent_u(0) * n.x - - state::texture_tangent_v(0) * n.y + /* flip_tangent_v */ - state::normal() * n.z; -} - -// Returns a normal by adding a detail normal to a global normal. -export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal()) -{ - // http://blog.selfshadow.com/publications/blending-in-detail/ - float3 n_t = transform_internal_to_tangent(n); - float3 nd_t = transform_internal_to_tangent(nd); - n_t = n_t + float3(0.,0.,1.); - nd_t = nd_t * float3(-1.,-1.,1.); - n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t; - return math::normalize(transform_tangent_to_internal(n)); -} - -base::texture_return multiply_colors( - color color_1 = color(1.0, 1.0, 1.0), - color color_2 = color(.5, .5, .5), - float weight = 1.0 - ) -[[ - anno::hidden() -]] -{ - return base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: color_2, - weight: weight, - mode: base::color_layer_multiply - )), - base: color_1 - ); -} - - -// OmniPBR Clearcoat // - -export material OmniPBR_ClearCoat( - - // Albdeo // - - color diffuse_color_constant = color(0.2) [[ - anno::display_name("Albedo Color"), - anno::description("This is the albedo base color"), - anno::in_group("Albedo") - ]], - uniform texture_2d diffuse_texture = texture_2d() [[ - anno::display_name("Albedo Map"), - anno::in_group("Albedo") - ]], - float albedo_desaturation = float(0.0) [[ - anno::display_name("Albedo Map Desaturation"), - anno::description("Desaturates the albedo map"), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - float albedo_add = float(0.0) [[ - anno::display_name("Albedo Add"), - anno::description("Adds a constant value to the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(-1.0), float(1.0)) - ]], - float albedo_brightness = float(1.0) [[ - anno::display_name("Albedo Brightness"), - anno::description("Multiplier for the diffuse color "), - anno::in_group("Albedo"), - anno::soft_range(float(0.0), float(1.0)) - ]], - color diffuse_tint = color(1.0) [[ - anno::display_name("Color Tint"), - anno::description("When enabled, this color value is multiplied over the final albedo color"), - anno::in_group("Albedo") - ]], - - - // Reflectivity // - - float reflection_roughness_constant = float(0.5) [[ - anno::display_name("Roughness Amount"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float reflection_roughness_texture_influence = float(0.0) [[ - anno::display_name("Roughness Map Influence"), - anno::description("Blends between the constant value and the lookup of the roughness texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d reflectionroughness_texture = texture_2d() [[ - anno::display_name("Roughness Map"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - float metallic_constant = float(0.0) [[ - anno::display_name("Metallic Amount"), - anno::description("Metallic Material"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float metallic_texture_influence = float(0.0) [[ - anno::display_name("Metallic Map Influence"), - anno::description("Blends between the constant value and the lookup of the metallic texture"), - anno::in_group("Reflectivity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d metallic_texture = texture_2d() [[ - anno::display_name("Metallic Map"), - anno::in_group("Reflectivity"), - anno::usage("metalness") - ]], - float specular_level = float(0.5) [[ - anno::display_name("Specular"), - anno::description("The specular level (intensity) of the material"), - anno::in_group("Reflectivity"), - anno::soft_range(float(0.0), float(1.0)) - ]], - - - // ORM // - - uniform bool enable_ORM_texture = false [[ - anno::display_name("Enable ORM Texture"), - anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"), - anno::in_group("Reflectivity") - ]], - uniform texture_2d ORM_texture = texture_2d() [[ - anno::display_name("ORM Map"), - anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"), - anno::in_group("Reflectivity"), - anno::usage("roughness") - ]], - - - // AO Group // - - float ao_to_diffuse = 0.0 [[ - anno::display_name("AO to diffuse"), - anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"), - anno::in_group("AO"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform texture_2d ao_texture = texture_2d() [[ - anno::display_name("Ambient Occlusion Map"), - anno::description("The ambient occlusion texture for the material"), - anno::in_group("AO"), - anno::usage("occlusion") - ]], - - - // Emission // - - uniform bool enable_emission = false [[ - anno::display_name("Enable Emission"), - anno::description("Enables the emission of light from the material"), - anno::in_group("Emissive") - ]], - color emissive_color = color(1.0,0.1,0.1) [[ - anno::display_name("Emissive Color"), - anno::description("The emission color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_color_texture = texture_2d() [[ - anno::display_name("Emissive Color map"), - anno::in_group("Emissive"), - anno::description("The emissive color texture"), - anno::enable_if("enable_emission == true") - ]], - uniform texture_2d emissive_mask_texture = texture_2d() [[ - anno::display_name("Emissive Mask map"), - anno::description("The texture masking the emissive color"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true"), - anno::usage("occlusion") - ]], - float emissive_intensity = float(40.0) [[ - anno::display_name("Emissive Intensity"), - anno::description("Intensity of the emission"), - anno::in_group("Emissive"), - anno::enable_if("enable_emission == true") - ]], - - - // Cutout Opacity // - - uniform bool enable_opacity = false [[ - anno::display_name("Enable Opacity"), - anno::description("Enables the use of cutout opacity"), - anno::in_group("Opacity") - ]], - uniform texture_2d opacity_texture = texture_2d() [[ - anno::display_name("Opacity Map"), - anno::in_group("Opacity"), - anno::usage("opacity") - ]], - float opacity_constant = float(1.0) [[ - anno::display_name("Opacity Amount"), - anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - uniform bool enable_opacity_texture = false [[ - anno::display_name("Enable Opacity Texture"), - anno::description("Enables or disables the usage of the opacity texture map"), - anno::in_group("Opacity") - ]], - uniform base::mono_mode opacity_mode = base::mono_average [[ - anno::display_name("Opacity Mono Source"), - anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"), - anno::in_group("Opacity") - ]], - uniform float opacity_threshold = float(0.0) [[ - anno::display_name("Opacity Threshold"), - anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"), - anno::in_group("Opacity"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Clearcoat // - - uniform bool enable_clearcoat = false [[ - anno::display_name("Enable Clearcoat Layer"), - anno::description("Adds a clearcoat layer on top of the material when enabled"), - anno::in_group("Clearcoat") - ]], - float clearcoat_weight = float(1.0) [[ - anno::display_name("Clearcoat Weight"), - anno::description("Sets the weight for clearcoat layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - color clearcoat_tint = color(1.0) [[ - anno::display_name("Clearcoat Tint"), - anno::description("Clearcoat is tinted and affects the underlying material"), - anno::in_group("Clearcoat") - ]], - float clearcoat_transparency = float(1.0) [[ - anno::display_name("Clearcoat Transparency"), - anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_reflection_roughness = float(0.0) [[ - anno::display_name("Clearcoat Roughness"), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - float clearcoat_ior = float(1.56) [[ - anno::display_name("Clearcoat IOR"), - anno::description("Sets the Index of refraction for the clearcoat layer"), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(4.0)) - ]], - uniform float clearcoat_bump_factor = float(1.0) [[ - anno::display_name("Clearcoat Normal Map Strength"), - anno::description("Strength of normal map."), - anno::in_group("Clearcoat"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[ - anno::display_name("Clearcoat Normal Map"), - anno::description("Enables the usage of the normalmap texture"), - anno::in_group("Clearcoat"), - anno::usage("normal") - ]], - uniform float2 clearcoat_texture_translate = float2(0.0) [[ - anno::display_name("Clearcoat Texture Translate"), - anno::description("Controls the position of the clearcoat texture"), - anno::ui_order(1), - anno::in_group("UV") - ]], - uniform float clearcoat_texture_rotate = float(0.0) [[ - anno::display_name("Clearcoat Texture Rotate"), - anno::description("Rotates angle of the clearcoat texture in degrees"), - anno::ui_order(2), - anno::in_group("UV") - ]], - uniform float2 clearcoat_texture_scale = float2(1.0) [[ - anno::display_name("Clearcoat Texture Tiling"), - anno::description("Controls the repetition of the clearcoat texture"), - anno::ui_order(3), - anno::in_group("UV") - ]], - float clearcoat_flatten = float(1.0) [[ - anno::display_name("Clearcoat Flatten"), - anno::description("Flattens the clearcoat to even out the underlying bump maps"), - anno::in_group("Clearcoat"), - anno::hard_range(float(0.0), float(1.0)) - ]], - - - // Normal // - - uniform float geometry_normal_roughness_strength = 1.f - [[ - anno::hard_range(0.0, 1.0), - anno::display_name("Normal map to roughness weight"), - anno::description("Enables and weights roughness induced by normal maps"), - anno::in_group("Normal") - ]], - uniform float bump_factor = float(1.0) [[ - anno::display_name("Normal Strength"), - anno::description("Strength of normal map"), - anno::in_group("Normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d normalmap_texture = texture_2d() [[ - anno::display_name("Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform float detail_bump_factor = float(0.3) [[ - anno::display_name("Detail Normal Strength"), - anno::in_group("Normal"), - anno::description("Strength of the detail normal"), - anno::soft_range(float(0.0), float(1.0)) - ]], - uniform texture_2d detail_normalmap_texture = texture_2d() [[ - anno::display_name("Detail Normal Map"), - anno::in_group("Normal"), - anno::usage("normal") - ]], - uniform bool flip_tangent_u = false [[ - anno::display_name("Normal Map Flip U Tangent"), - anno::in_group("Normal") - ]], - uniform bool flip_tangent_v = true [[ - anno::display_name("Normal Map Flip V Tangent"), - anno::in_group("Normal") - ]], - - - // UVW Projection Group // - - uniform bool project_uvw = false [[ - anno::display_name("Enable Project UVW Coordinates"), - anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"), - anno::in_group("UV") - ]], - uniform bool world_or_object = false [[ - anno::display_name("Enable World Space"), - anno::description("When enabled, uses world space for projection, otherwise object space is used"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform int uv_space_index = 0 [[ - anno::display_name("UV Space Index"), - anno::description("UV Space Index"), - anno::in_group("UV"), - anno::enable_if("project_uvw == true"), - anno::hard_range(int(0), int(3)) - ]], - - - // UVW Adjustments Group // - - uniform float2 texture_translate = float2(0.0) [[ - anno::display_name("Texture Translate"), - anno::description("Controls position of texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float texture_rotate = float(0.0) [[ - anno::display_name("Texture Rotate"), - anno::description("Rotates angle of texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 texture_scale = float2(1.0) [[ - anno::display_name("Texture Tiling"), - anno::description("Controls repetition of the texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_translate = float2(0.0) [[ - anno::display_name("Detail Texture Translate"), - anno::description("Controls the position of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float detail_texture_rotate = float(0.0) [[ - anno::display_name("Detail Texture Rotate"), - anno::description("Rotates angle of the detail texture in degrees."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - uniform float2 detail_texture_scale = float2(1.0) [[ - anno::display_name("Detail Texture Tiling"), - anno::description("Controls repetition of the detail texture."), - anno::in_group("UV"), - anno::enable_if("project_uvw == true") - ]], - - - // Geometry // - - uniform float round_edges_radius = float(0.0) [[ - anno::display_name("Round Edge Radius"), - anno::description("Influence radius around the edges in meters"), - anno::in_group("Geometry"), - anno::soft_range(0.0, 1.0) - ]], - uniform float round_edges_roundness = float(1.0) [[ - anno::display_name("Round Edge Roundness"), - anno::description("Determines how round the edge will look"), - anno::in_group("Geometry"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false [[ - anno::display_name("Round Edge Across Materials"), - anno::description("Normal smoothing happens only between facets of equal material, \n" - "\t\tunless this parameter is set true, in which case the smoothing \n" - "\t\thappens between facets irrespective of their materials"), - anno::in_group("Geometry") - ]] -) -[[ - anno::display_name("OmniPBR ClearCoat "), - anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), - anno::in_group("Base"), - anno::version( 2, 1, 1), - anno::author("NVIDIA CORPORATION"), - anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic")) -]] = let { - - // UVW lookup and transformation // - base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object; - - base::texture_coordinate_info uvw = project_uvw ? base::coordinate_projection( - coordinate_system: the_system, - texture_space: uv_space_index, - projection_type: base::projection_cubic - ) : - base::coordinate_source( - coordinate_system: base::texture_coordinate_uvw, - texture_space: uv_space_index - ); - - base::texture_coordinate_info transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(texture_scale.x, texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ), - translation: float3(texture_translate.x, texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ), - translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0) - ), - coordinate: uvw - ); - - base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0), - rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ), - translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f) - ), - coordinate: uvw - ); - - // Normal calculations // - OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0)); - - OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: normalmap_texture, - factor: bump_factor, - uvw: transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - //flip_tangent_v: true - - ) : defaultData; - float3 the_normal = normal_data.normal; - - OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: detail_normalmap_texture, - factor: detail_bump_factor, - uvw: detail_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 detail_normal = detail_normal_data.normal; - - OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ? - OmniPBRBase::tangent_space_normal_roughness_texture( - texture: clearcoat_normalmap_texture, - factor: clearcoat_bump_factor, - uvw: clearcoat_transformed_uvw, - flip_tangent_u: flip_tangent_u, - flip_tangent_v: flip_tangent_v // true for dx, false for opengl - ) : defaultData; - float3 clearcoat_normal = clearcoat_normal_data.normal; - - - float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal; - float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten); - float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) - : flattened_clearcoat_normal; - - - // ORM Handling // - - float3 ORM_lookup = tex::lookup_float3( - tex: ORM_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - - float3 roughness_lookup = tex::lookup_float3( - tex: reflectionroughness_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x; - float reflection_roughness_s = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence); - float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)), - math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y))); - - float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)), - math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y))); - - // Diffuse Color Lookup and AO // - - base::texture_return base_lookup = base::file_texture( - texture: diffuse_texture, - color_offset: color(albedo_add), - color_scale: color(albedo_brightness), - mono_source: base::mono_luminance, - uvw: transformed_uvw, - clip: false - ); - - base::texture_return ao_lookup = base::file_texture( - texture: ao_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ); - - - color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint; - color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation); - color diffuse = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant; - color tinted_diffuse = multiply_colors(diffuse, diffuse_tint, 1.0).tint; - - color base_color = multiply_colors( - color_1: tinted_diffuse, - color_2: ao_color, - weight: ao_to_diffuse - ).tint; - - - // Metalness // - - float3 metallic_lookup = tex::lookup_float3( - tex: metallic_texture, - coord: float2(transformed_uvw.position.x, transformed_uvw.position.y) - ); - - float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x; - float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence); - - - // Emission // - - color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ? - base::file_texture( - texture: emissive_color_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : emissive_color; - - color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ? - base::file_texture( - texture: emissive_mask_texture, - color_offset: color(0.0, 0.0, 0.0), - color_scale: color(1.0, 1.0, 1.0), - mono_source: base::mono_average, - uvw: transformed_uvw, - clip: false - ).tint : color(1.0); - - color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0); - - // Opacity // - - float opacity_value = enable_opacity_texture ? base::file_texture( - texture: opacity_texture, - mono_source: opacity_mode, - uvw: transformed_uvw - ).mono : opacity_constant; - - float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0; - - material base = OmniPBRBase::OmniPBRBase( - diffuse_reflection_color: base_color, - specular_reflection_aniso_roughness: reflection_roughness, - specular_level: specular_level, - metalness: metallic, - enable_emission: enable_emission, - emission_color: final_emission_color, - emission_intensity: emissive_intensity, - enable_coat: enable_clearcoat, - coat_weight: clearcoat_weight, - coat_color: clearcoat_tint, - coat_transparency: clearcoat_transparency, - coat_aniso_roughness: clearcoat_reflection_roughness2, - coat_ior: clearcoat_ior, - enable_opacity: enable_opacity, - geometry_opacity: cutout_opacity, - clearcoat_geometry_normal: final_clearcoat_normal, - round_edges_radius: round_edges_radius, - round_edges_roundness: round_edges_roundness, - round_edges_across_materials: round_edges_across_materials, - geometry_normal: diffuse_gloss_normal - ); - -} in material( -surface: base.surface, -geometry: base.geometry -); diff --git a/yahboom_dofbot/materials/mdl/aux_definitions.mdl b/yahboom_dofbot/materials/mdl/aux_definitions.mdl deleted file mode 100644 index ceafd716af19521a4733704808ebcc07613217e1..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/aux_definitions.mdl +++ /dev/null @@ -1,3464 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -mdl 1.4; - -import ::anno::*; -export using ::base import texture_return; - -module -[[ - anno::version( 1, 2, 0), - anno::hidden(), - anno::display_name("NVIDIA auxillary definitions") -]]; - -// Support functions to simplify conversions between vector types with swizzles -// Supported argument types: float2, float3, float4, color, texture_return (as RGB and RGBA) -// Supported return types: float, float2, float3 color - - -export annotation icon(string path); - - -//*********************************************************************************************************************** -// Constructor wrappers - -export float construct_float( - texture_return a [[ - anno::description("Input texture sample container; the mono channel is returned.") - ]]) -[[ - anno::display_name("Float from texture_return"), - anno::description("Constructs a float from the mono channel of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float"), - icon(".icons/constructor.svg"), - anno::ui_order(10000) -]] -{ return a.mono; } - -export color construct_color( - float a [[ - anno::description("Scalar value replicated into all color channels.") - ]]) -[[ - anno::display_name("Color from float"), - anno::description("Constructs a color from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10001) -]] -{ return color(a); } - -export color construct_color( - float3 a [[ - anno::description("RGB source components.") - ]]) -[[ - anno::display_name("Color from float3"), - anno::description("Constructs a color from a float3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10002) -]] -{ return color(a); } - -export color construct_color( - float r [[ - anno::description("Red channel value.") - ]], - float g [[ - anno::description("Green channel value.") - ]], - float b [[ - anno::description("Blue channel value.") - ]]) -[[ - anno::display_name("Color from floats"), - anno::description("Constructs a color from explicit red, green, and blue components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10003) -]] -{ return color(r,g,b); } - -export color construct_color( - texture_return a [[ - anno::description("Input texture sample container; the tint (RGB) channels are returned.") - ]]) -[[ - anno::display_name("Color from texture_return"), - anno::description("Constructs a color from the tint (RGB) channels of a texture_return value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Color"), - icon(".icons/constructor.svg"), - anno::ui_order(10004) -]] -{ return a.tint; } - -export float4 construct_float4( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from floats"), - anno::description("Constructs a float4 from explicit x, y, z, and w components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10005) -]] -{ return float4(x,y,z,w); } - -export float4 construct_float4( - float3 xyz [[ - anno::description("Source xyz components.") - ]], - float w [[ - anno::description("W component value.") - ]]) -[[ - anno::display_name("Float4 from float3,float"), - anno::description("Constructs a float4 from a float3 xyz value and a separate w component."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float4"), - icon(".icons/constructor.svg"), - anno::ui_order(10006) -]] -{ return float4(xyz.x,xyz.y,xyz.z,w); } - -export float3 construct_float3( - color a [[ - anno::description("Input color whose RGB channels are converted to float3.") - ]]) -[[ - anno::display_name("Float3 from color"), - anno::description("Constructs a float3 from a color value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10007) -]] -{ return float3(a); } - -export float3 construct_float3( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]], - float z [[ - anno::description("Z component value.") - ]]) -[[ - anno::display_name("Float3 from floats"), - anno::description("Constructs a float3 from explicit x, y, and z components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10008) -]] -{ return float3(x,y,z); } - -export float3 construct_float3( - int3 a [[ - anno::description("Input int3 converted component-wise to float3.") - ]]) -[[ - anno::display_name("Float3 from int3"), - anno::description("Constructs a float3 from an int3 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float3"), - icon(".icons/constructor.svg"), - anno::ui_order(10009) -]] -{ return float3(a); } - -export float2 construct_float2( - float a [[ - anno::description("Scalar value replicated into both components.") - ]]) -[[ - anno::display_name("Float2 from float"), - anno::description("Constructs a float2 from a single float value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10010) -]] -{ return float2(a); } - -export float2 construct_float2( - float x [[ - anno::description("X component value.") - ]], - float y [[ - anno::description("Y component value.") - ]]) -[[ - anno::display_name("Float2 from floats"), - anno::description("Constructs a float2 from explicit x and y components."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10011) -]] -{ return float2(x,y); } - -export float2 construct_float2( - int2 a [[ - anno::description("Input int2 converted component-wise to float2.") - ]]) -[[ - anno::display_name("Float2 from int2"), - anno::description("Constructs a float2 from an int2 value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Float2"), - icon(".icons/constructor.svg"), - anno::ui_order(10012) -]] -{ return float2(a); } - -export int3 construct_int3( - int a [[ - anno::description("Scalar value replicated into all int3 components.") - ]]) -[[ - anno::display_name("Int3 from int"), - anno::description("Constructs an int3 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int3"), - icon(".icons/constructor.svg"), - anno::ui_order(10013) -]] -{ return int3(a); } - -export int2 construct_int2( - int a [[ - anno::description("Scalar value replicated into both int2 components.") - ]]) -[[ - anno::display_name("Int2 from int"), - anno::description("Constructs an int2 from a single int value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constructor", "Int2"), - icon(".icons/constructor.svg"), - anno::ui_order(10014) -]] -{ return int2(a); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float return type - -export float x( float2 a) -[[ - anno::display_name("X from float2"), - anno::description("Returns x from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11000) -]] -{ return a.x; } - -export float y( float2 a) -[[ - anno::display_name("Y from float2"), - anno::description("Returns y from float2."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11010) -]] -{ return a.y; } - -export float x( float3 a) -[[ - anno::display_name("X from float3"), - anno::description("Returns x from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11001) -]] -{ return a.x; } - -export float y( float3 a) -[[ - anno::display_name("Y from float3"), - anno::description("Returns y from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11011) -]] -{ return a.y; } - -export float z( float3 a) -[[ - anno::display_name("Z from float3"), - anno::description("Returns z from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11020) -]] -{ return a.z; } - -export float x( float4 a) -[[ - anno::display_name("X from float4"), - anno::description("Returns x from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "X"), - icon(".icons/component_extract.svg"), - anno::ui_order(11002) -]] -{ return a.x; } - -export float y( float4 a) -[[ - anno::display_name("Y from float4"), - anno::description("Returns y from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Y"), - icon(".icons/component_extract.svg"), - anno::ui_order(11012) -]] -{ return a.y; } - -export float z( float4 a) -[[ - anno::display_name("Z from float4"), - anno::description("Returns z from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "Z"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return a.z; } - -export float w( float4 a) -[[ - anno::display_name("W from float4"), - anno::description("Returns w from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11025) -]] -{ return a.w; } - -export float x( color a) -[[ - anno::display_name("R from color"), - anno::description("Returns r from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11003) -]] -{ return x( float3(a)); } - -export float y( color a) -[[ - anno::display_name("G from color"), - anno::description("Returns g from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11013) -]] -{ return y( float3(a)); } - -export float z( color a) -[[ - anno::display_name("B from color"), - anno::description("Returns b from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11021) -]] -{ return z( float3(a)); } - -export float x( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("R from texture_return"), - anno::description("Returns r from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "R"), - icon(".icons/component_extract.svg"), - anno::ui_order(11004) -]] -{ return float3( a.tint).x; } - -export float y( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("G from texture_return"), - anno::description("Returns g from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "G"), - icon(".icons/component_extract.svg"), - anno::ui_order(11014) -]] -{ return float3( a.tint).y; } - -export float z( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("B from texture_return"), - anno::description("Returns b from texture_return tint."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "B"), - icon(".icons/component_extract.svg"), - anno::ui_order(11022) -]] -{ return float3( a.tint).z; } - -export float w( - texture_return a [[ - anno::description("Input texture sample container.") - ]]) -[[ - anno::display_name("Mono from texture_return"), - anno::description("Returns mono/alpha from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float", "W"), - icon(".icons/component_extract.svg"), - anno::ui_order(11026) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Conversions of texture_return -// All are hidden -export float4 texture_return_float4( - texture_return a [[ - anno::description("Input texture sample container to unpack as float4 (r, g, b, mono).") - ]]) -[[ - anno::display_name("float4 from texture_return"), - anno::description("Converts texture_return to float4 using tint RGB and mono as W."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float4"), - icon(".icons/component_extract.svg"), - anno::ui_order(10108) -]] -{ return float4(x(a),y(a),z(a),w(a)); } - -export float3 texture_return_float3( - texture_return a [[ - anno::description("Input texture sample container to unpack as float3 (r, g, b).") - ]]) -[[ - anno::display_name("float3 from texture_return"), - anno::description("Converts texture_return to float3 using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - icon(".icons/component_extract.svg"), - anno::ui_order(10109) -]] -{ return float3(x(a),y(a),z(a)); } - -export color texture_return_color( - texture_return a [[ - anno::description("Input texture sample container; tint RGB is returned as color.") - ]]) -[[ - anno::display_name("color from texture_return"), - anno::description("Converts texture_return to color using the tint RGB channels."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Color"), - icon(".icons/component_extract.svg"), - anno::ui_order(10110) -]] -{ return a.tint; } - -export float texture_return_float( - texture_return a [[ - anno::description("Input texture sample container; mono channel is returned.") - ]]) -[[ - anno::display_name("float from texture_return"), - anno::description("Converts texture_return to float using the mono channel."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float"), - icon(".icons/component_extract.svg"), - anno::ui_order(10111) -]] -{ return a.mono; } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float2 return type - -export float2 xy( float2 a) -[[ - anno::display_name("XY from float2"), - anno::description("Returns float2(x,y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11040) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float3 a) -[[ - anno::display_name("XY from float3"), - anno::description("Returns float2(x,y) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11041) -]] -{ return float2( a.x, a.y); } - -export float2 xy( float4 a) -[[ - anno::display_name("XY from float4"), - anno::description("Returns float2(x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return float2( a.x, a.y); } - -export float2 xy( color a) -[[ - anno::display_name("XY from color"), - anno::description("Returns float2(x,y) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return xy( float3(a)); } - -export float2 xy( - texture_return a [[ - anno::description("Input texture sample container; returns the first two tint channels.") - ]]) -[[ - anno::display_name("XY from texture_return"), - anno::description("Returns float2(r, g) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11044) -]] -{ return xy(texture_return_float4(a)); } - - -// The remaining are hidden -export float2 xx( float2 a) -[[ - anno::display_name("XX from float2"), - anno::description("Returns float2(x,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11030) -]] -{ return float2( a.x, a.x); } - -export float2 yx( float2 a) -[[ - anno::display_name("YX from float2"), - anno::description("Returns float2(y,x)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11050) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float2 a) -[[ - anno::display_name("YY from float2"), - anno::description("Returns float2(y,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11060) -]] -{ return float2( a.y, a.y); } - -export float2 xx( float3 a) -[[ - anno::display_name("XX from float3"), - anno::description("Returns float2(x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11031) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float3 a) -[[ - anno::display_name("XZ from float3"), - anno::description("Returns float2(x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11042) -]] -{ return float2( a.x, a.z); } - -export float2 yz( float3 a) -[[ - anno::display_name("YZ from float3"), - anno::description("Returns float2(y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11043) -]] -{ return float2( a.y, a.z); } - -export float2 yx( float3 a) -[[ - anno::display_name("YX from float3"), - anno::description("Returns float2(y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11051) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float3 a) -[[ - anno::display_name("YY from float3"), - anno::description("Returns float2(y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11061) -]] -{ return float2( a.y, a.y); } - -export float2 zx( float3 a) -[[ - anno::display_name("ZX from float3"), - anno::description("Returns float2(z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11090) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float3 a) -[[ - anno::display_name("ZY from float3"), - anno::description("Returns float2(z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11100) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float3 a) -[[ - anno::display_name("ZZ from float3"), - anno::description("Returns float2(z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11110) -]] -{ return float2( a.z, a.z); } - -export float2 xx( float4 a) -[[ - anno::display_name("XX from float4"), - anno::description("Returns float2(x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11032) -]] -{ return float2( a.x, a.x); } - -export float2 xz( float4 a) -[[ - anno::display_name("XZ from float4"), - anno::description("Returns float2(x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11071) -]] -{ return float2( a.x, a.z); } - -export float2 xw( float4 a) -[[ - anno::display_name("XW from float4"), - anno::description("Returns float2(x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11120) -]] -{ return float2( a.x, a.w); } - -export float2 yx( float4 a) -[[ - anno::display_name("YX from float4"), - anno::description("Returns float2(y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11052) -]] -{ return float2( a.y, a.x); } - -export float2 yy( float4 a) -[[ - anno::display_name("YY from float4"), - anno::description("Returns float2(y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11062) -]] -{ return float2( a.y, a.y); } - -export float2 yz( float4 a) -[[ - anno::display_name("YZ from float4"), - anno::description("Returns float2(y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11081) -]] -{ return float2( a.y, a.z); } - -export float2 yw( float4 a) -[[ - anno::display_name("YW from float4"), - anno::description("Returns float2(y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11125) -]] -{ return float2( a.y, a.w); } - -export float2 zx( float4 a) -[[ - anno::display_name("ZX from float4"), - anno::description("Returns float2(z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11091) -]] -{ return float2( a.z, a.x); } - -export float2 zy( float4 a) -[[ - anno::display_name("ZY from float4"), - anno::description("Returns float2(z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11101) -]] -{ return float2( a.z, a.y); } - -export float2 zz( float4 a) -[[ - anno::display_name("ZZ from float4"), - anno::description("Returns float2(z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11111) -]] -{ return float2( a.z, a.z); } - -export float2 zw( float4 a) -[[ - anno::display_name("ZW from float4"), - anno::description("Returns float2(z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11127) -]] -{ return float2( a.z, a.w); } - -export float2 wx( float4 a) -[[ - anno::display_name("WX from float4"), - anno::description("Returns float2(w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11129) -]] -{ return float2( a.w, a.x); } - -export float2 wy( float4 a) -[[ - anno::display_name("WX from loat4"), - anno::description("Returns float2(w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11131) -]] -{ return float2( a.w, a.y); } - -export float2 wz( float4 a) -[[ - anno::display_name("WZ from float4"), - anno::description("Returns float2(w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11133) -]] -{ return float2( a.w, a.z); } - -export float2 ww( float4 a) -[[ - anno::display_name("WW from float4"), - anno::description("Returns float2(w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11135) -]] -{ return float2( a.w, a.w); } - -export float2 xx( color a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11033) -]] -{ return xx( float3(a)); } - -export float2 xz( color a) -[[ - anno::display_name("XZ from color"), - anno::description("Returns float2(x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11072) -]] -{ return xz( float3(a)); } - -export float2 yx( color a) -[[ - anno::display_name("YX from color"), - anno::description("Returns float2(y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11053) -]] -{ return yx( float3(a)); } - -export float2 yy( color a) -[[ - anno::display_name("YY from color"), - anno::description("Returns float2(y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11063) -]] -{ return yy( float3(a)); } - -export float2 yz( color a) -[[ - anno::display_name("YZ from color"), - anno::description("Returns float2(y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11082) -]] -{ return yz( float3(a)); } - -export float2 zx( color a) -[[ - anno::display_name("ZX from color"), - anno::description("Returns float2(z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11092) -]] -{ return zx( float3(a)); } - -export float2 zy( color a) -[[ - anno::display_name("ZY from color"), - anno::description("Returns float2(z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11102) -]] -{ return zy( float3(a)); } - -export float2 zz( color a) -[[ - anno::display_name("ZZ from color"), - anno::description("Returns float2(z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11112) -]] -{ return zz( float3(a)); } - -export float2 xx( texture_return a) -[[ - anno::display_name("XX from color"), - anno::description("Returns float2(x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11034) -]] -{ return xx(texture_return_float4(a)); } - -export float2 xz( texture_return a) -[[ - anno::display_name("XZ from texture_return"), - anno::description("Returns float2(x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11073) -]] -{ return xz(texture_return_float4(a)); } - -export float2 xw( texture_return a) -[[ - anno::display_name("XW from texture_return"), - anno::description("Returns float2(x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11121) -]] -{ return xw(texture_return_float4(a)); } - -export float2 yx( texture_return a) -[[ - anno::display_name("YX from texture_return"), - anno::description("Returns float2(y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11054) -]] -{ return yx(texture_return_float4(a)); } - -export float2 yy( texture_return a) -[[ - anno::display_name("YY from texture_return"), - anno::description("Returns float2(y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11064) -]] -{ return yy(texture_return_float4(a)); } - -export float2 yz( texture_return a) -[[ - anno::display_name("YZ from texture_return"), - anno::description("Returns float2(y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11083) -]] -{ return yz(texture_return_float4(a)); } - -export float2 yw( texture_return a) -[[ - anno::display_name("YW from texture_return"), - anno::description("Returns float2(y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11126) -]] -{ return yw(texture_return_float4(a)); } - -export float2 zx( texture_return a) -[[ - anno::display_name("ZX from texture_return"), - anno::description("Returns float2(z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11093) -]] -{ return zx(texture_return_float4(a)); } - -export float2 zy( texture_return a) -[[ - anno::display_name("ZY from texture_return"), - anno::description("Returns float2(z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11103) -]] -{ return zy(texture_return_float4(a)); } - -export float2 zz( texture_return a) -[[ - anno::display_name("ZZ from texture_return"), - anno::description("Returns float2(z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11113) -]] -{ return zz(texture_return_float4(a)); } - -export float2 zw( texture_return a) -[[ - anno::display_name("ZW from texture_return"), - anno::description("Returns float2(z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11128) -]] -{ return zw(texture_return_float4(a)); } - -export float2 wx( texture_return a) -[[ - anno::display_name("WX from texture_return.WX"), - anno::description("Returns float2(w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11130) -]] -{ return wx(texture_return_float4(a)); } - -export float2 wy( texture_return a) -[[ - anno::display_name("WY from texture_return"), - anno::description("Returns float2(w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11132) -]] -{ return wy(texture_return_float4(a)); } - -export float2 wz( texture_return a) -[[ - anno::display_name("WZ from texture_return"), - anno::description("Returns float2(w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11134) -]] -{ return wz(texture_return_float4(a)); } - -export float2 ww( texture_return a) -[[ - anno::display_name("WW from texture_return"), - anno::description("Returns float2(w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float2"), - icon(".icons/component_extract.svg"), - anno::ui_order(11136) -]] -{ return ww(texture_return_float4(a)); } -//*********************************************************************************************************************** - - - -//*********************************************************************************************************************** -// Swizzles with float3 return type - -export float3 xyz( float3 a) -[[ - anno::display_name("XYZ from float3"), - anno::description("Returns float3(x,y,z) from float3."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11290) -]] -{ return float3( a.x, a.y, a.z); } - -export float3 xyz( float4 a) -[[ - anno::display_name("XYZ from float4"), - anno::description("Returns float3(x,y,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11291) -]] -{ return float3( a.x, a.y, a.z); } - - -// The remaining are hidden -export float3 yyw( float4 a) -[[ - anno::display_name("YYW from float4"), - anno::description("Returns float3(y,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11640) -]] -{ return float3( a.y, a.y, a.w); } - -export float3 xxx( float2 a) -[[ - anno::display_name("XXX from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11200) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float2 a) -[[ - anno::display_name("XXY from float2"), - anno::description("Returns float3(x,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11210) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xyx( float2 a) -[[ - anno::display_name("XYX from float2"), - anno::description("Returns float3(x,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11230) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float2 a) -[[ - anno::display_name("XYY from float2"), - anno::description("Returns float3(x,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11240) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 yxx( float2 a) -[[ - anno::display_name("YXX from float2"), - anno::description("Returns float3(y,x,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11250) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float2 a) -[[ - anno::display_name("YXY from float2"), - anno::description("Returns float3(y,x,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11260) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yyx( float2 a) -[[ - anno::display_name("YYX from float2"), - anno::description("Returns float3(y,y,x) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11270) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float2 a) -[[ - anno::display_name("YYY from float2"), - anno::description("Returns float3(y,y,y) from float2."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11280) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 xxx( float3 a) -[[ - anno::display_name("XXX from float3"), - anno::description("Returns float3(x,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11201) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float3 a) -[[ - anno::display_name("XXY from float3"), - anno::description("Returns float3(x,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11211) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float3 a) -[[ - anno::display_name("XXZ from float3"), - anno::description("Returns float3(x,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11220) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xyx( float3 a) -[[ - anno::display_name("XYX from float3"), - anno::description("Returns float3(x,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11231) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float3 a) -[[ - anno::display_name("XYY from float3"), - anno::description("Returns float3(x,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11241) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xzx( float3 a) -[[ - anno::display_name("XZX from float3"), - anno::description("Returns float3(x,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11300) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float3 a) -[[ - anno::display_name("XZY from float3"), - anno::description("Returns float3(x,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11310) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float3 a) -[[ - anno::display_name("XZZ from float3"), - anno::description("Returns float3(x,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11320) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 yxx( float3 a) -[[ - anno::display_name("YXX from float3"), - anno::description("Returns float3(y,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11251) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float3 a) -[[ - anno::display_name("YXY from float3"), - anno::description("Returns float3(y,x,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11261) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float3 a) -[[ - anno::display_name("YXZ from float3"), - anno::description("Returns float3(y,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11330) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yyx( float3 a) -[[ - anno::display_name("YYX from float3"), - anno::description("Returns float3(y,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11271) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float3 a) -[[ - anno::display_name("YYY from float3"), - anno::description("Returns float3(y,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11281) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float3 a) -[[ - anno::display_name("YYZ from float3"), - anno::description("Returns float3(y,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11340) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float3 a) -[[ - anno::display_name("YZX from float3"), - anno::description("Returns float3(y,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11350) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float3 a) -[[ - anno::display_name("YZY from float3.YZY"), - anno::description("Returns float3(y,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11360) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float3 a) -[[ - anno::display_name("YZZ from float3"), - anno::description("Returns float3(y,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11370) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 zxx( float3 a) -[[ - anno::display_name("ZXX from float3"), - anno::description("Returns float3(z,x,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11380) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float3 a) -[[ - anno::display_name("float3.ZXY"), - anno::description("Returns float3(z,x,y)."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11390) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float3 a) -[[ - anno::display_name("ZXZ from float3"), - anno::description("Returns float3(z,x,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11400) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zyx( float3 a) -[[ - anno::display_name("ZYX from float3"), - anno::description("Returns float3(z,y,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11410) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float3 a) -[[ - anno::display_name("ZYY from float3"), - anno::description("Returns float3(z,y,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11420) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float3 a) -[[ - anno::display_name("ZYZ from float3"), - anno::description("Returns float3(z,y,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11430) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zzx( float3 a) -[[ - anno::display_name("ZZX from float3"), - anno::description("Returns float3(z,z,x) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11440) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float3 a) -[[ - anno::display_name("ZZY from float3"), - anno::description("Returns float3(z,z,y) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11450) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float3 a) -[[ - anno::display_name("ZZZ from float3"), - anno::description("Returns float3(z,z,z) from float3."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11460) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 xxx( float4 a) -[[ - anno::display_name("XXX from float4"), - anno::description("Returns float3(x,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11202) -]] -{ return float3( a.x, a.x, a.x); } - -export float3 xxy( float4 a) -[[ - anno::display_name("XXY from float4"), - anno::description("Returns float3(x,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11212) -]] -{ return float3( a.x, a.x, a.y); } - -export float3 xxz( float4 a) -[[ - anno::display_name("XXZ from float4"), - anno::description("Returns float3(x,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11222) -]] -{ return float3( a.x, a.x, a.z); } - -export float3 xxw( float4 a) -[[ - anno::display_name("XXW from float4"), - anno::description("Returns float3(x,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11227) -]] -{ return float3( a.x, a.x, a.w); } - -export float3 xyx( float4 a) -[[ - anno::display_name("XYX from float4"), - anno::description("Returns float3(x,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11232) -]] -{ return float3( a.x, a.y, a.x); } - -export float3 xyy( float4 a) -[[ - anno::display_name("XYY from float4"), - anno::description("Returns float3(x,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11242) -]] -{ return float3( a.x, a.y, a.y); } - -export float3 xyw( float4 a) -[[ - anno::display_name("XYW from float4"), - anno::description("Returns float3(x,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11295) -]] -{ return float3( a.x, a.y, a.w); } - -export float3 xzx( float4 a) -[[ - anno::display_name("XZX from float4"), - anno::description("Returns float3(x,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11301) -]] -{ return float3( a.x, a.z, a.x); } - -export float3 xzy( float4 a) -[[ - anno::display_name("XZY from float4"), - anno::description("Returns float3(x,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11311) -]] -{ return float3( a.x, a.z, a.y); } - -export float3 xzz( float4 a) -[[ - anno::display_name("XZZ from float4"), - anno::description("Returns float3(x,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return float3( a.x, a.z, a.z); } - -export float3 xzw( float4 a) -[[ - anno::display_name("XZW from float4"), - anno::description("Returns float3(x,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11600) -]] -{ return float3( a.x, a.z, a.w); } - -export float3 xwx( float4 a) -[[ - anno::display_name("XWX from float4"), - anno::description("Returns float3(x,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11604) -]] -{ return float3( a.x, a.w, a.x); } - -export float3 xwy( float4 a) -[[ - anno::display_name("XWY from float4"), - anno::description("Returns float3(x,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11608) -]] -{ return float3( a.x, a.w, a.y); } - -export float3 xwz( float4 a) -[[ - anno::display_name("XWZ from float4"), - anno::description("Returns float3(x,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11612) -]] -{ return float3( a.x, a.w, a.z); } - -export float3 xww( float4 a) -[[ - anno::display_name("XWW from float4"), - anno::description("Returns float3(x,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11616) -]] -{ return float3( a.x, a.w, a.w); } - -export float3 yxx( float4 a) -[[ - anno::display_name("YXX from float4"), - anno::description("Returns float3(y,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11252) -]] -{ return float3( a.y, a.x, a.x); } - -export float3 yxy( float4 a) -[[ - anno::display_name("YXY from float4"), - anno::hidden(), - anno::description("Returns float3(y,x,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11262) -]] -{ return float3( a.y, a.x, a.y); } - -export float3 yxz( float4 a) -[[ - anno::display_name("YXZ from float4"), - anno::description("Returns float3(y,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11331) -]] -{ return float3( a.y, a.x, a.z); } - -export float3 yxw( float4 a) -[[ - anno::display_name("YXW from float4"), - anno::description("Returns float3(y,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11630) -]] -{ return float3( a.y, a.x, a.w); } - -export float3 yyx( float4 a) -[[ - anno::display_name("YYX from float4"), - anno::description("Returns float3(y,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11272) -]] -{ return float3( a.y, a.y, a.x); } - -export float3 yyy( float4 a) -[[ - anno::display_name("YYY from float4"), - anno::description("Returns float3(y,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11282) -]] -{ return float3( a.y, a.y, a.y); } - -export float3 yyz( float4 a) -[[ - anno::display_name("YYZ from float4"), - anno::description("Returns float3(y,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11341) -]] -{ return float3( a.y, a.y, a.z); } - -export float3 yzx( float4 a) -[[ - anno::display_name("YZX from float4"), - anno::description("Returns float3(y,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11351) -]] -{ return float3( a.y, a.z, a.x); } - -export float3 yzy( float4 a) -[[ - anno::display_name("YZY from float4"), - anno::description("Returns float3(y,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11361) -]] -{ return float3( a.y, a.z, a.y); } - -export float3 yzz( float4 a) -[[ - anno::display_name("YZZ from float4"), - anno::description("Returns float3(y,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11371) -]] -{ return float3( a.y, a.z, a.z); } - -export float3 yzw( float4 a) -[[ - anno::display_name("YZW from float4"), - anno::description("Returns float3(y,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11650) -]] -{ return float3( a.y, a.z, a.w); } - -export float3 ywx( float4 a) -[[ - anno::display_name("YWX from float4"), - anno::description("Returns float3(y,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11653) -]] -{ return float3( a.y, a.w, a.x); } - -export float3 ywy( float4 a) -[[ - anno::display_name("YWY from float4"), - anno::description("Returns float3(y,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11656) -]] -{ return float3( a.y, a.w, a.y); } - -export float3 ywz( float4 a) -[[ - anno::display_name("YWZ from float4"), - anno::description("Returns float3(y,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11658) -]] -{ return float3( a.y, a.w, a.z); } - -export float3 yww( float4 a) -[[ - anno::display_name("YWW from float4"), - anno::description("Returns float3(y,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11661) -]] -{ return float3( a.y, a.w, a.w); } - -export float3 zxx( float4 a) -[[ - anno::display_name("ZXX from float4"), - anno::description("Returns float3(z,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11381) -]] -{ return float3( a.z, a.x, a.x); } - -export float3 zxy( float4 a) -[[ - anno::display_name("ZXY from float4"), - anno::description("Returns float3(z,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11391) -]] -{ return float3( a.z, a.x, a.y); } - -export float3 zxz( float4 a) -[[ - anno::display_name("ZXZ from float4"), - anno::description("Returns float3(z,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11401) -]] -{ return float3( a.z, a.x, a.z); } - -export float3 zxw( float4 a) -[[ - anno::display_name("ZXW from float4"), - anno::description("Returns float3(z,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11671) -]] -{ return float3( a.z, a.x, a.w); } - -export float3 zyx( float4 a) -[[ - anno::display_name("ZYX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11411) -]] -{ return float3( a.z, a.y, a.x); } - -export float3 zyy( float4 a) -[[ - anno::display_name("ZYY from float4"), - anno::description("Returns float3(z,y,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11421) -]] -{ return float3( a.z, a.y, a.y); } - -export float3 zyz( float4 a) -[[ - anno::display_name("ZYZ from float4"), - anno::description("Returns float3(z,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11431) -]] -{ return float3( a.z, a.y, a.z); } - -export float3 zyw( float4 a) -[[ - anno::display_name("ZYW from float4"), - anno::description("Returns float3(z,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return float3( a.z, a.y, a.w); } - -export float3 zzx( float4 a) -[[ - anno::display_name("ZZX from float4"), - anno::description("Returns float3(z,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11441) -]] -{ return float3( a.z, a.z, a.x); } - -export float3 zzy( float4 a) -[[ - anno::display_name("ZZY from float4"), - anno::description("Returns float3(z,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11451) -]] -{ return float3( a.z, a.z, a.y); } - -export float3 zzz( float4 a) -[[ - anno::display_name("ZZZ from float4"), - anno::hidden(), - anno::description("Returns float3(z,z,z) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11461) -]] -{ return float3( a.z, a.z, a.z); } - -export float3 zzw( float4 a) -[[ - anno::display_name("ZZW from float4"), - anno::description("Returns float3(z,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11465) -]] -{ return float3( a.z, a.z, a.w); } - -export float3 zwx( float4 a) -[[ - anno::display_name("ZWX from float4"), - anno::description("Returns float3(z,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return float3( a.z, a.w, a.x); } - -export float3 zwy( float4 a) -[[ - anno::display_name("ZWY from float4"), - anno::description("Returns float3(z,w,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11471) -]] -{ return float3( a.z, a.w, a.y); } - -export float3 zwz( float4 a) -[[ - anno::display_name("ZWZ from float4"), - anno::description("Returns float3(z,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11475) -]] -{ return float3( a.z, a.w, a.z); } - -export float3 zww( float4 a) -[[ - anno::display_name("ZWW from float4"), - anno::description("Returns float3(z,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11479) -]] -{ return float3( a.z, a.w, a.w); } - -export float3 wxx( float4 a) -[[ - anno::display_name("WXX from float4"), - anno::description("Returns float3(w,x,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11483) -]] -{ return float3( a.w, a.x, a.x); } - -export float3 wxy( float4 a) -[[ - anno::display_name("WXY from float4"), - anno::description("Returns float3(w,x,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11487) -]] -{ return float3( a.w, a.x, a.y); } - -export float3 wxz( float4 a) -[[ - anno::display_name("WXZ from float4"), - anno::description("Returns float3(w,x,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11490) -]] -{ return float3( a.w, a.x, a.z); } - -export float3 wxw( float4 a) -[[ - anno::display_name("WXW from float4"), - anno::description("Returns float3(w,x,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11496) -]] -{ return float3( a.w, a.x, a.w); } - -export float3 wyx( float4 a) -[[ - anno::display_name("WYX from float4"), - anno::description("Returns float3(w,y,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11503) -]] -{ return float3( a.w, a.y, a.x); } - -export float3 wyy( float4 a) -[[ - anno::display_name("WYY from float4"), - anno::description("Returns float3(w,y,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11507) -]] -{ return float3( a.w, a.y, a.y); } - -export float3 wyz( float4 a) -[[ - anno::display_name("WYZ from float4"), - anno::description("Returns float3(w,y,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11510) -]] -{ return float3( a.w, a.y, a.z); } - -export float3 wyw( float4 a) -[[ - anno::display_name("WYW from float4"), - anno::description("Returns float3(w,y,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11514) -]] -{ return float3( a.w, a.y, a.w); } - -export float3 wzx( float4 a) -[[ - anno::display_name("WZX from float4"), - anno::description("Returns float3(w,z,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11518) -]] -{ return float3( a.w, a.z, a.x); } - -export float3 wzy( float4 a) -[[ - anno::display_name("WZY from float4"), - anno::description("Returns float3(w,z,y) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11521) -]] -{ return float3( a.w, a.z, a.y); } - -export float3 wzz( float4 a) -[[ - anno::display_name("WZZ from float4"), - anno::description("Returns float3(w,z,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11524) -]] -{ return float3( a.w, a.z, a.z); } - -export float3 wzw( float4 a) -[[ - anno::display_name("WZW from float4"), - anno::description("Returns float3(w,z,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11529) -]] -{ return float3( a.w, a.z, a.w); } - -export float3 wwx( float4 a) -[[ - anno::display_name("WWX from float4"), - anno::description("Returns float3(w,w,x) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return float3( a.w, a.w, a.x); } - -export float3 wwy( float4 a) -[[ - anno::display_name("WWY from float4"), - anno::hidden(), - anno::description("Returns float3(w,w,y) from float4."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11537) -]] -{ return float3( a.w, a.w, a.y); } - -export float3 wwz( float4 a) -[[ - anno::display_name("WWZ from float4"), - anno::description("Returns float3(w,w,z) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return float3( a.w, a.w, a.z); } - -export float3 www( float4 a) -[[ - anno::display_name("WWW from float4"), - anno::description("Returns float3(w,w,w) from float4."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11544) -]] -{ return float3( a.w, a.w, a.w); } - -export float3 xxx( color a) -[[ - anno::display_name("XXX from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11203) -]] -{ return xxx( float3(a)); } - -export float3 xxy( color a) -[[ - anno::display_name("XXY from color"), - anno::description("Returns float3(x,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11213) -]] -{ return xxy( float3(a)); } - -export float3 xxz( color a) -[[ - anno::display_name("XXZ from color"), - anno::description("Returns float3(x,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11223) -]] -{ return xxz( float3(a)); } - -export float3 xyx( color a) -[[ - anno::display_name("XYX from color"), - anno::description("Returns float3(x,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11233) -]] -{ return xyx( float3(a)); } - -export float3 xyy( color a) -[[ - anno::display_name("XYY from color"), - anno::description("Returns float3(x,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11243) -]] -{ return xyy( float3(a)); } - -export float3 xyz( color a) -[[ - anno::display_name("XYZ from color"), - anno::description("Returns float3(x,y,z) from color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11292) -]] -{ return xyz( float3(a)); } - -export float3 xzx( color a) -[[ - anno::display_name("XZX from color"), - anno::description("Returns float3(x,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11302) -]] -{ return xzx( float3(a)); } - -export float3 xzy( color a) -[[ - anno::display_name("XZY from color"), - anno::description("Returns float3(x,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11312) -]] -{ return xzy( float3(a)); } - -export float3 xzz( color a) -[[ - anno::display_name("XZZ from color"), - anno::description("Returns float3(x,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11323) -]] -{ return xzz( float3(a)); } - -export float3 yxx( color a) -[[ - anno::display_name("YXX from color"), - anno::description("Returns float3(y,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11253) -]] -{ return yxx( float3(a)); } - -export float3 yxy( color a) -[[ - anno::display_name("YXY from color"), - anno::description("Returns float3(y,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11263) -]] -{ return yxy( float3(a)); } - -export float3 yxz( color a) -[[ - anno::display_name("YXZ from color"), - anno::description("Returns float3(y,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11332) -]] -{ return yxz( float3(a)); } - -export float3 yyx( color a) -[[ - anno::display_name("YYX from color"), - anno::description("Returns float3(y,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11273) -]] -{ return yyx( float3(a)); } - -export float3 yyy( color a) -[[ - anno::display_name("YYY from color"), - anno::description("Returns float3(y,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11283) -]] -{ return yyy( float3(a)); } - -export float3 yyz( color a) -[[ - anno::display_name("YYZ from color"), - anno::description("Returns float3(y,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11342) -]] -{ return yyz( float3(a)); } - -export float3 yzx( color a) -[[ - anno::display_name("YZX from color"), - anno::description("Returns float3(y,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11352) -]] -{ return yzx( float3(a)); } - -export float3 yzy( color a) -[[ - anno::display_name("YZY from color"), - anno::description("Returns float3(y,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11362) -]] -{ return yzy( float3(a)); } - -export float3 yzz( color a) -[[ - anno::display_name("YZZ from color"), - anno::description("Returns float3(y,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11372) -]] -{ return yzz( float3(a)); } - -export float3 zxx( color a) -[[ - anno::display_name("ZXX from color"), - anno::description("Returns float3(z,x,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11382) -]] -{ return zxx( float3(a)); } - -export float3 zxy( color a) -[[ - anno::display_name("ZXY from color"), - anno::description("Returns float3(z,x,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11392) -]] -{ return zxy( float3(a)); } - -export float3 zxz( color a) -[[ - anno::display_name("ZXZ from color"), - anno::description("Returns float3(z,x,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11402) -]] -{ return zxz( float3(a)); } - -export float3 zyx( color a) -[[ - anno::display_name("ZYX from color"), - anno::description("Returns float3(z,y,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11412) -]] -{ return zyx( float3(a)); } - -export float3 zyy( color a) -[[ - anno::display_name("ZYY from color"), - anno::description("Returns float3(z,y,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11422) -]] -{ return zyy( float3(a)); } - -export float3 zyz( color a) -[[ - anno::display_name("ZYZ from color"), - anno::description("Returns float3(z,y,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11432) -]] -{ return zyz( float3(a)); } - -export float3 zzx( color a) -[[ - anno::display_name("ZZX from color"), - anno::description("Returns float3(z,z,x) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11442) -]] -{ return zzx( float3(a)); } - -export float3 zzy( color a) -[[ - anno::display_name("ZZY from color"), - anno::description("Returns float3(z,z,y) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11452) -]] -{ return zzy( float3(a)); } - -export float3 zzz( color a) -[[ - anno::display_name("ZZZ from color"), - anno::description("Returns float3(z,z,z) from color."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11462) -]] -{ return zzz( float3(a)); } - -export float3 xxx( texture_return a) -[[ - anno::display_name("XXX from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11204) -]] -{ return xxx(texture_return_float4(a)); } - -export float3 xxy( texture_return a) -[[ - anno::display_name("XXY from texture_return"), - anno::description("Returns float3(x,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11214) -]] -{ return xxy(texture_return_float4(a)); } - -export float3 xxz( texture_return a) -[[ - anno::display_name("XXZ from texture_return"), - anno::description("Returns float3(x,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11224) -]] -{ return xxz(texture_return_float4(a)); } - -export float3 xxw( texture_return a) -[[ - anno::display_name("XXW from texture_return"), - anno::description("Returns float3(x,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11229) -]] -{ return xxw(texture_return_float4(a)); } - -export float3 xyx( texture_return a) -[[ - anno::display_name("XYX from texture_return"), - anno::description("Returns float3(x,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11234) -]] -{ return xyx(texture_return_float4(a)); } - -export float3 xyy( texture_return a) -[[ - anno::display_name("XYY from texture_return"), - anno::description("Returns float3(x,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11244) -]] -{ return xyy(texture_return_float4(a)); } - -export float3 xyz( texture_return a) -[[ - anno::display_name("XYZ from texture_return"), - anno::description("Returns float3(x,y,z) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11293) -]] -{ return xyz(texture_return_float4(a)); } - -export float3 xyw( texture_return a) -[[ - anno::display_name("XYW from texture_return"), - anno::description("Returns float3(x,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11296) -]] -{ return xyw(texture_return_float4(a)); } - -export float3 xzx( texture_return a) -[[ - anno::display_name("XZX from texture_return"), - anno::description("Returns float3(x,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11303) -]] -{ return xzx(texture_return_float4(a)); } - -export float3 xzy( texture_return a) -[[ - anno::display_name("XZY from texture_return"), - anno::description("Returns float3(x,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1131) -]] -{ return xzy(texture_return_float4(a)); } - -export float3 xzz( texture_return a) -[[ - anno::display_name("XZZ from texture_return"), - anno::description("Returns float3(x,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11321) -]] -{ return xzz(texture_return_float4(a)); } - -export float3 xzw( texture_return a) -[[ - anno::display_name("XZW from texture_return"), - anno::description("Returns float3(x,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11601) -]] -{ return xzw(texture_return_float4(a)); } - -export float3 xwx( texture_return a) -[[ - anno::display_name("XWX from texture_return"), - anno::description("Returns float3(x,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11605) -]] -{ return xwx(texture_return_float4(a)); } - -export float3 xwy( texture_return a) -[[ - anno::display_name("XWY from texture_return"), - anno::description("Returns float3(x,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11609) -]] -{ return xwy(texture_return_float4(a)); } - -export float3 xwz( texture_return a) -[[ - anno::display_name("XWZ from texture_return"), - anno::description("Returns float3(x,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11613) -]] -{ return xwz(texture_return_float4(a)); } - -export float3 xww( texture_return a) -[[ - anno::display_name("XWW from texture_return"), - anno::description("Returns float3(x,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11617) -]] -{ return xww(texture_return_float4(a)); } - -export float3 yxx( texture_return a) -[[ - anno::display_name("YXX from texture_return"), - anno::description("Returns float3(y,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11254) -]] -{ return yxx(texture_return_float4(a)); } - -export float3 yxy( texture_return a) -[[ - anno::display_name("YXY from texture_return"), - anno::description("Returns float3(y,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11264) -]] -{ return yxy(texture_return_float4(a)); } - -export float3 yxz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11333) -]] -{ return yxz(texture_return_float4(a)); } - -export float3 yxw( texture_return a) -[[ - anno::display_name("YXW from texture_return"), - anno::description("Returns float3(y,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11631) -]] -{ return yxw(texture_return_float4(a)); } - -export float3 yyx( texture_return a) -[[ - anno::display_name("YYX from texture_return"), - anno::description("Returns float3(y,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11274) -]] -{ return yyx(texture_return_float4(a)); } - -export float3 yyy( texture_return a) -[[ - anno::display_name("YYY from texture_return"), - anno::description("Returns float3(y,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11284) -]] -{ return yyy(texture_return_float4(a)); } - -export float3 yyz( texture_return a) -[[ - anno::display_name("YYZ from texture_return"), - anno::description("Returns float3(y,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11344) -]] -{ return yyz(texture_return_float4(a)); } - -export float3 yyw( texture_return a) -[[ - anno::display_name("YYW from texture_return"), - anno::description("Returns float3(y,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11641) -]] -{ return yyw(texture_return_float4(a)); } - -export float3 yzx( texture_return a) -[[ - anno::display_name("YZX from texture_return"), - anno::description("Returns float3(y,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11354) -]] -{ return yzx(texture_return_float4(a)); } - -export float3 yzy( texture_return a) -[[ - anno::display_name("YZY from texture_return"), - anno::description("Returns float3(y,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11363) -]] -{ return yzy(texture_return_float4(a)); } - -export float3 yzz( texture_return a) -[[ - anno::display_name("YZZ from texture_return"), - anno::description("Returns float3(y,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11373) -]] -{ return yzz(texture_return_float4(a)); } - -export float3 yzw( texture_return a) -[[ - anno::display_name("YZW from texture_return"), - anno::description("Returns float3(y,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11651) -]] -{ return yzw(texture_return_float4(a)); } - -export float3 ywx( texture_return a) -[[ - anno::display_name("YWX from texture_return"), - anno::description("Returns float3(y,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11654) -]] -{ return ywx(texture_return_float4(a)); } - -export float3 ywy( texture_return a) -[[ - anno::display_name("YWY from texture_return"), - anno::description("Returns float3(y,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11657) -]] -{ return ywy(texture_return_float4(a)); } - -export float3 ywz( texture_return a) -[[ - anno::display_name("YXZ from texture_return"), - anno::description("Returns float3(y,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11659) -]] -{ return ywz(texture_return_float4(a)); } - -export float3 yww( texture_return a) -[[ - anno::display_name("YWW from texture_return"), - anno::description("Returns float3(y,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11662) -]] -{ return yww(texture_return_float4(a)); } - -export float3 zxx( texture_return a) -[[ - anno::display_name("ZXX from texture_return"), - anno::description("Returns float3(z,x,x) from texture_return."), - anno::author("NVIDIA Corporation"), - anno::hidden(), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11383) -]] -{ return zxx(texture_return_float4(a)); } - -export float3 zxy( texture_return a) -[[ - anno::display_name("ZXY from texture_return"), - anno::description("Returns float3(z,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11394) -]] -{ return zxy(texture_return_float4(a)); } - -export float3 zxz( texture_return a) -[[ - anno::display_name("ZXZ from texture_return"), - anno::description("Returns float3(z,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11403) -]] -{ return zxz(texture_return_float4(a)); } - -export float3 zxw( texture_return a) -[[ - anno::display_name("ZXW from texture_return"), - anno::description("Returns float3(z,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11672) -]] -{ return zxw(texture_return_float4(a)); } - -export float3 zyx( texture_return a) -[[ - anno::display_name("ZYX from texture_return"), - anno::description("Returns float3(z,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11413) -]] -{ return zyx(texture_return_float4(a)); } - -export float3 zyy( texture_return a) -[[ - anno::display_name("ZYY from texture_return"), - anno::description("Returns float3(z,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11423) -]] -{ return zyy(texture_return_float4(a)); } - -export float3 zyz( texture_return a) -[[ - anno::display_name("ZYZ from texture_return"), - anno::description("Returns float3(z,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyz(texture_return_float4(a)); } - -export float3 zyw( texture_return a) -[[ - anno::display_name("ZYW from texture_return"), - anno::description("Returns float3(z,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11433) -]] -{ return zyw(texture_return_float4(a)); } - -export float3 zzx( texture_return a) -[[ - anno::display_name("ZZX from texture_return"), - anno::description("Returns float3(z,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11443) -]] -{ return zzx(texture_return_float4(a)); } - -export float3 zzy( texture_return a) -[[ - anno::display_name("ZZY from texture_return"), - anno::description("Returns float3(z,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11453) -]] -{ return zzy(texture_return_float4(a)); } - -export float3 zzz( texture_return a) -[[ - anno::display_name("ZZZ from texture_return"), - anno::description("Returns float3(z,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11463) -]] -{ return zzz(texture_return_float4(a)); } - -export float3 zzw( texture_return a) -[[ - anno::display_name("ZZW from texture_return"), - anno::description("Returns float3(z,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11466) -]] -{ return zzw(texture_return_float4(a)); } - -export float3 zwx( texture_return a) -[[ - anno::display_name("ZWX from texture_return"), - anno::description("Returns float3(z,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11468) -]] -{ return zwx(texture_return_float4(a)); } - -export float3 zwy( texture_return a) -[[ - anno::display_name("ZWY from texture_return"), - anno::description("Returns float3(z,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11472) -]] -{ return zwy(texture_return_float4(a)); } - -export float3 zwz( texture_return a) -[[ - anno::display_name("ZWZ from texture_return"), - anno::description("Returns float3(z,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11476) -]] -{ return zwz(texture_return_float4(a)); } - -export float3 zww( texture_return a) -[[ - anno::display_name("texture_return.ZWW"), - anno::description("Returns float3(z,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11480) -]] -{ return zww(texture_return_float4(a)); } - -export float3 wxx( texture_return a) -[[ - anno::display_name("WXX from texture_return"), - anno::description("Returns float3(w,x,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11484) -]] -{ return wxx(texture_return_float4(a)); } - -export float3 wxy( texture_return a) -[[ - anno::display_name("WXY from texture_return"), - anno::description("Returns float3(w,x,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11488) -]] -{ return wxy(texture_return_float4(a)); } - -export float3 wxz( texture_return a) -[[ - anno::display_name("WXZ from texture_return"), - anno::description("Returns float3(w,x,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11493) -]] -{ return wxz(texture_return_float4(a)); } - -export float3 wxw( texture_return a) -[[ - anno::display_name("WXW from texture_return"), - anno::description("Returns float3(w,x,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11500) -]] -{ return wxw(texture_return_float4(a)); } - -export float3 wyx( texture_return a) -[[ - anno::display_name("WYX from texture_return"), - anno::description("Returns float3(w,y,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(1150) -]] -{ return wyx(texture_return_float4(a)); } - -export float3 wyy( texture_return a) -[[ - anno::display_name("WYY from texture_return"), - anno::description("Returns float3(w,y,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11508) -]] -{ return wyy(texture_return_float4(a)); } - -export float3 wyz( texture_return a) -[[ - anno::display_name("WYZ from texture_return"), - anno::description("Returns float3(w,y,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11511) -]] -{ return wyz(texture_return_float4(a)); } - -export float3 wyw( texture_return a) -[[ - anno::display_name("WYW from texture_return"), - anno::description("Returns float3(w,y,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11515) -]] -{ return wyw(texture_return_float4(a)); } - -export float3 wzx( texture_return a) -[[ - anno::display_name("WZX from texture_return"), - anno::description("Returns float3(w,z,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11519) -]] -{ return wzx(texture_return_float4(a)); } - -export float3 wzy( texture_return a) -[[ - anno::display_name("WZY from texture_return"), - anno::description("Returns float3(w,z,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11522) -]] -{ return wzy(texture_return_float4(a)); } - -export float3 wzz( texture_return a) -[[ - anno::display_name("WZZ from texture_return"), - anno::description("Returns float3(w,z,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11525) -]] -{ return wzz(texture_return_float4(a)); } - -export float3 wzw( texture_return a) -[[ - anno::display_name("WZW from texture_return"), - anno::description("Returns float3(w,z,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11530) -]] -{ return wzw(texture_return_float4(a)); } - -export float3 wwx( texture_return a) -[[ - anno::display_name("WWWX from texture_return"), - anno::description("Returns float3(w,w,x) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11533) -]] -{ return wwx(texture_return_float4(a)); } - -export float3 wwy( texture_return a) -[[ - anno::display_name("WWY from texture_return"), - anno::description("Returns float3(w,w,y) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11538) -]] -{ return wwy(texture_return_float4(a)); } - -export float3 wwz( texture_return a) -[[ - anno::display_name("WWZ from texture_return"), - anno::description("Returns float3(w,w,z) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11541) -]] -{ return wwz(texture_return_float4(a)); } - -export float3 www( texture_return a) -[[ - anno::display_name("WWW from texture_return"), - anno::description("Returns float3(w,w,w) from texture_return."), - anno::hidden(), - anno::author("NVIDIA Corporation"), - anno::in_group("Channel", "Float3"), - icon(".icons/component_extract.svg"), - anno::ui_order(11545) -]] -{ return www(texture_return_float4(a)); } diff --git a/yahboom_dofbot/materials/mdl/core_definitions.mdl b/yahboom_dofbot/materials/mdl/core_definitions.mdl deleted file mode 100644 index cbe3f174c2da2abe2b6aa211510de9128848089c..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/core_definitions.mdl +++ /dev/null @@ -1,5806 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - - -// The "//group ... //endgroup" comments are used during the -// procedural creation of this module's documentation. -mdl 1.8; - -import ::df::*; -import ::state::*; -import ::math::*; -import ::limits::*; -import ::base::*; -import ::tex::*; -import ::anno::*; -export using ::base import texture_return; -export using ::base import mono_mode; -export using ::base import color_layer_mode; -import support_definitions::*; -module [[ - anno::version( 2, 2, 0), - anno::display_name("NVIDIA core definitions") -]]; - -export annotation icon(string path); - -const string COPYRIGHT = "Copyright 2023 NVIDIA Corporation. All rights reserved."; - -//some local functions, dont document - -// https://www.shadertoy.com/view/4djSRW -float2 hash22(float2 p) -{ - float3 p3 = math::frac(float3(p.x, p.y, p.x) * float3(0.1031, 0.1030, 0.0973)); - p3 += math::dot(p3, float3(p3.y, p3.z, p3.x) + 33.33); - return math::frac((float2(p3.x, p3.x) + float2(p3.y, p3.z)) * float2(p3.z, p3.y)); -} - -// Christophe Schlick. “Fast Alternatives to Perlin’s Bias and Gain Functions”. -// In Graphics Gems IV, Morgan Kaufmann, 1994, pages 401–403. -// https://dept-info.labri.fr/~schlick/DOC/gem2.html -float schlick_gain(float x, float r) -{ - float rr = math::clamp(r, 0.001, 0.999); // to avoid glitch - float a = (1.0 / rr - 2.0) * (1.0 - 2.0 * x); - return (x < 0.5) ? x / (a + 1.0) : (a - x) / (a - 1.0); -} - -// blend two normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -export float3 blend_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\""), - anno::soft_range(0.0,1.0) - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\""), - anno::soft_range(0.0,1.0) - ]] -) -[[ - anno::description("Blend two normals or apply a detail normal map"), - anno::display_name("Blend normals"), - anno::thumbnail(".thumbs/blend_normals.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT)]] -{ - return base::blend_normals(base_normal,base_normal_weight,detail_normal,detail_normal_weight); -} -// blend 3 normals, similar to -// http://blog.selfshadow.com/publications/blending-in-detail/ -//TODO: make public? -float3 blend_3_normals( - float3 base_normal = state::normal() - [[ - anno::description("The base normal") - ]], - float base_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the base normal using a linear blend between state::normal and \"base_normal\"") - ]], - float3 detail_normal = state::normal() - [[ - anno::description("The detail normal") - ]], - float detail_normal_weight = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]], - float3 detail_normal2 = state::normal() - [[ - anno::description("The detail normal2") - ]], - float detail_normal_weight2 = 1.0f - [[ - anno::description("Specifies the strength of the detail normal using a linear blend between state::normal and \"detail_normal\"") - ]] -) -[[ - anno::description("Blend three normals for sticker-like situations where a detail normal map is applied to a base normal map"), - anno::noinline() -]] -{ - float3 tu = state::texture_tangent_u(0); - float3 tv = state::texture_tangent_v(0); - float3 n = state::normal(); - - float w1 = math::saturate(base_normal_weight); - float w2 = math::saturate(detail_normal_weight); - float w3 = math::saturate(detail_normal_weight2); - - float3 n1_t = math::normalize( - float3(math::dot(tu, base_normal) * w1, - math::dot(tv, base_normal) * w1, - math::dot(n, base_normal) * w1 + 1.0f - w1)); - float3 n2_t = math::normalize( - float3(math::dot(tu, detail_normal) * w2, - math::dot(tv, detail_normal) * w2, - math::dot(n, detail_normal) * w2 + 1.0f - w2)); - float3 n3_t = math::normalize( - float3(math::dot(tu, detail_normal2) * w3, - math::dot(tv, detail_normal2) * w3, - math::dot(n, detail_normal2) * w3 + 1.0f - w3)); - - n1_t.z += 1.0f; - n2_t.x = -n2_t.x; - n2_t.y = -n2_t.y; - - float3 n12_t = n1_t * math::dot(n1_t, n2_t) / n1_t.z - n2_t; - - n12_t.z+= 1.0f; - n3_t.x = -n3_t.x; - n3_t.y = -n3_t.y; - float3 n_t = n12_t * math::dot(n12_t, n3_t) / n12_t.z - n3_t; - - return math::normalize( - tu * n_t.x + - tv * n_t.y + - n * n_t.z); -} - -// blend 3 normals by blending the gradients -// Morten S. Mikkelsen, Surface Gradient–Based Bump Mapping Framework, Journal of -// Computer Graphics Techniques (JCGT), vol. 9, no. 3, 60–90, 2020 -// http://jcgt.org/published/0009/03/04/ -float3 gradient_blend_3_normals( - float3 normal1 = state::normal(), - float normal1_weight = 1.0, - float3 normal2 = state::normal(), - float normal2_weight = 1.0, - float3 normal3 = state::normal(), - float normal3_weight = 1.0 -) -{ - float w1 = math::saturate(normal1_weight); - float w2 = math::saturate(normal2_weight); - float w3 = math::saturate(normal3_weight); - - // normal to gradient - float3 n = state::normal(); - float d1 = math::dot(n, normal1); - float d2 = math::dot(n, normal2); - float d3 = math::dot(n, normal3); - float3 g1 = (d1 * n - normal1) / math::max(limits::FLOAT_MIN, math::abs(d1)); - float3 g2 = (d2 * n - normal2) / math::max(limits::FLOAT_MIN, math::abs(d2)); - float3 g3 = (d3 * n - normal3) / math::max(limits::FLOAT_MIN, math::abs(d3)); - - // blend - float3 gg = w1 * g1 + w2 * g2 + w3 * g3; - - // gradient to normal - return math::normalize(n - gg); -} - -struct complex_ior -{ - color n; //refractive index - color k; //extinction coefficient -}; - - -//[Gulbrandsen2014] Ole Gulbrandsen, 2014. Artist friendly metallic fresnel. -complex_ior artistic_metal_to_complex_ior( - color reflectivity, - color edge_tint) -{ - float epsilon = 1.e-2; - color r = math::lerp(color(epsilon), color(1.0 - epsilon), reflectivity); - color g = edge_tint; - - color r_sqrt = math::sqrt(r); - color n_min = (1.0f - r) / (1.0f + r); - color n_max = (1.0f + r_sqrt) / (1.0f - r_sqrt); - - color n = math::lerp(n_max, n_min, g); - - color k2 = ((n + 1.0f) * (n + 1.0f) * r - (n - 1.0f) * (n - 1.0f)) / (1.0f - r); - k2 = math::max(k2, 0.0f); - color k = math::sqrt(k2); - - return complex_ior(n, k); -} - - - -float3x3 axis_rotation_matrix(float3 a, float r) -{ - float[2] sc = math::sincos(r); - float s = sc[0]; - float c = sc[1]; - float omc = 1.0 - c; - return float3x3( - a.x * a.x * omc + c, a.x * a.y * omc - a.x * s, a.x * a.z * omc + a.y * s, - a.y * a.x * omc + a.z * s, a.y * a.y * omc + c, a.y * a.z * omc - a.x * s, - a.z * a.x * omc - a.y * s, a.z * a.y * omc + a.x * s, a.z * a.z * omc + c - ); -} -float3 transform_rotate(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return p*rotate; - -} -float3 transform_rotate_inv(float3 p, float3 r) -{ - // Euler rotation matrix xyz order to stay compatible with ::base - float3 s = math::sin(r); - float3 c = math::cos(r); - float3x3 rotate = - float3x3( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , - -s.y , s.x*c.y , c.x*c.y ); - return rotate*p; - -} - -//group Enumerations - -export enum material_type -[[ - anno::display_name("User interface group"), - anno::description("User interface grouping hint for materials"), - anno::hidden() -]] -{ - simple_material - [[ anno::description("Simple material") ]], - complex_material - [[ anno::description("Complex material") ]], - combiner_material - [[ anno::description("Combiner material") ]], - modifier_material - [[ anno::description("Material modifier") ]] -}; - -export enum emission_type -[[ - anno::display_name("Emission mode"), - anno::description("Emission mode definition for light sources"), - anno::hidden() -]] -{ - lumen_m2 - [[ anno::description("lumen/m2") ]], - lumen - [[ anno::description("lumen") ]], - candela - [[ anno::description("candela") ]], - nit - [[ anno::description("nit (candela/m2)") ]] -}; - -export enum cell_type -[[ - anno::display_name("Worley noise cell type"), - anno::description("Behavior of the Worley noise cell"), - anno::hidden() -]] -{ - simple_cells = 0 - [[ anno::description("Simple cells") ]], - crystal_cells = 1 - [[ anno::description("Crystal cells") ]], - bordered_cells = 2 - [[ anno::description("Bordered cells") ]] -}; - -export enum cell_base -[[ - anno::display_name("Worley noise cell shape"), - anno::description("Shape of the Worley noise cell"), - anno::hidden() -]] -{ - circular_cells = 0 - [[ anno::description("Circle base") ]], - diamond_cells = 1 - [[ anno::description("Diamond base") ]] -}; - -export enum displacement_vector_space -[[ - anno::display_name("Displacement mode"), - anno::description("Displacement Mode"), - anno::hidden() -]] -{ - // displacement_height = 0 // reserve this for now - // [[ anno::display_name("Height") ]], - - displacement_vector_tangent_space = 1 - [[ anno::display_name("Vector, Tangent Space") ]], - - displacement_vector_object_space = 2 - [[ anno::display_name("Vector, Object Space") ]], - - displacement_vector_world_space = 3 - [[ anno::display_name("Vector, World Space") ]] -}; - -//endgroup - -float3 transform_displacement_vector( - float3 displacement = float3(0.0) - [[ anno::description("Displacement vector") ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ anno::description("Space of the displacement vector") ]], - float scale = 1.0f - [[ anno::description("Displacement scale") ]] -) -[[ - anno::description("Transform input displacement vector to dispacement offset"), - anno::hidden() -]] -{ - float3 result; - switch (space) - { - // case displacement_height: - // result = state::normal() * displacement * scale; - // break; - - case displacement_vector_tangent_space: - result = state::texture_tangent_u(0) * displacement[0] * scale + - state::texture_tangent_v(0) * displacement[2] * scale + - state::normal() * displacement[1] * scale; - break; - - case displacement_vector_object_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_object, - displacement * scale - ); - break; - - case displacement_vector_world_space: - result = state::transform_point( - state::coordinate_internal, - state::coordinate_world, - displacement * scale - ); - break; - - default: - result = state::position(); - break; - } - - return result; -} - -float4x4 rotation_translation_scale( - float3 rotation = float3(0.) - [[ anno::description("Rotation applied to every UVW coordinate") ]], - float3 translation = float3(0.) - [[ anno::description("Offset applied to every UVW coordinate") ]], - float3 scaling = float3(1.) - [[ anno::description("Scale applied to every UVW coordinate") ]] -) -[[ - anno::description("Construct transformation matrix from Euler rotation, translation and scale"), - anno::hidden() -]] -{ - float4x4 scale = - float4x4(scaling.x , 0. , 0. , 0., - 0. , scaling.y , 0. , 0., - 0. , 0. , scaling.z , 0., - translation.x , translation.y , translation.z , 1.); - - float3 s = math::sin(rotation); - float3 c = math::cos(rotation); - float4x4 rotate = - float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0, - c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0, - -s.y , s.x*c.y , c.x*c.y , 0.0, - 0. , 0. , 0. , 1.); - - return scale*rotate; -} - -export annotation suitable_as_light(); -export annotation type_of_material(material_type type); -export annotation dimension(float dimension); -export annotation dimension(float2 dimension); -export annotation dimension(float3 dimension); - - -//group Texturing functions - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -blend_colors( - color color_1 = color(0.0) - [[ anno::display_name("Color 1") ]], - color color_2 = color(1.0) - [[ anno::display_name("Color 2") ]], - uniform color_layer_mode mode = color_layer_blend - [[ - anno::description("Describes how Color 1 and Color 2 are combined"), - anno::display_name("Blend mode") - ]], - float weight = 1. - [[ - anno::description("Defines strength of the effect. At weight 0, only color 1 will be visible. At weight 1, the blend function will have full effect."), - anno::display_name("Blend weight"), - anno::soft_range(0.0,1.0) - ]], - uniform bool linear_blend = true - [[ - anno::description("The blend opperation can either be applied in linear or gamma (2.2) color space"), - anno::display_name("Linear blend") - ]] -) -[[ - anno::display_name("Blend colors"), - anno::description("Allows combining textures and colors in varied ways"), - anno::thumbnail(".thumbs/blend_colors.png"), - anno::in_group("Texturing", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(33), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - color c1 = linear_blend? color_1: math::pow(color_1,0.45); - color c2 = linear_blend? color_2: math::pow(color_2,0.45); - float w = linear_blend? weight: math::pow(weight,0.45); - texture_return r = base::blend_color_layers( - layers: base::color_layer[]( - base::color_layer( - layer_color: c2, - weight: w, - mode: mode - )), - base: c1 - ); - return linear_blend? r: texture_return(math::pow(r.tint,2.2),math::pow(r.mono,2.2)); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(0) - ]], - uniform mono_mode mono_source = mono_average - [[ - anno::display_name("Scalar mode"), - anno::description("Defines how the texture applies to scalar parameters"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(1) - ]], - uniform float brightness = 1. - [[ - anno::display_name("Brightness"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0) - ]], - uniform float contrast = 1. - [[ - anno::display_name("Contrast"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture, color will be black and the scalar value will be 0."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(5) - ]], - uniform bool invert = false - [[ - anno::description("Invert image"), - anno::display_name("Invert image"), - anno::in_group("Bitmap parameters"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return invert == false? base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(0.5*brightness-0.5*contrast*brightness), - color_scale: color(brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ): base::file_texture( - texture: texture, - mono_source: mono_source, - color_offset: color(1.0-0.5*brightness+0.5*contrast*brightness), - color_scale: color(-brightness*contrast), - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clip:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clip:tex::wrap_repeat - ); -} -export color triplanar_file_texture( - uniform texture_2d texture_1 - [[ - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary texture used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4), - anno::description("Optional texture used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::description("Optional texture used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::hard_range(0.0,1.0) - ]], - uniform color mean = color(0.0) - [[ - anno::description("Allows tweaking of the blend function. A value of 0 disables the function."), - anno::display_name("Mean color"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15), - anno::hard_range(color(0.0),color(1.0)) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]] -) -[[ - anno::display_name("Triplanar Bitmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(30), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position = state::transform_point(state::coordinate_internal, space, state::position()); - //TODO: pretransform the space? At least rotating the original space seems desireable and more is not feasible without dedicated ui (gizmo) - normal = transform_rotate(normal, math::radians(rotate_origin)); - position = transform_rotate(position, math::radians(rotate_origin)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? pow has the drawback of needing 3 lookups nearly always - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - //weights = math::saturate(weights-float3(1.-blend_range)); - - weights /=float3(weights.x+weights.y+weights.z); - - - float2 st1 = normal.x>0?float2(-position.z,position.y):float2(-position.z,-position.y); - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - - color c1 = weights.x>0? - support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st1)) - :color(0.); - color c2 = weights.y>0? tex::texture_isvalid(texture_2)? - support_definitions::lookup_color( - texture_2, - support_definitions::transform_st(math::radians(rotation_2),translation_2,scaling_2,st2)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st2)) - :color(0.); - color c3 = weights.z>0? tex::texture_isvalid(texture_3)? - support_definitions::lookup_color( - texture_3, - support_definitions::transform_st(math::radians(rotation_3),translation_3,scaling_3,st3)) - :support_definitions::lookup_color( - texture_1, - support_definitions::transform_st(math::radians(rotation_1),translation_1,scaling_1,st3)) - :color(0.); - return mean == color(0.0)? - c1*weights.x + c2*weights.y+ c3*weights.z: - support_definitions::biased_color_blend(weights.x,c1,weights.y,c2,weights.z,c3,mean); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -perlin_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Perlin noise texture"), - anno::description("Enable texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(34), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_texture( - color1: color1, - color2: color2, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 perlin_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,5.0), - anno::description("Overall bump intensity applied to the generated Perlin noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(3) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Perlin noise texture -- bump mapping"), - anno::description("Enable bump-map texturing with a random noise pattern"), - anno::thumbnail(".thumbs/perlin_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Perlin"), - icon(".icons/perlin_noise_texture.svg"), - anno::ui_order(35), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::perlin_noise_bump_texture( - factor: factor, - noise_levels: noise_levels, - absolute_noise: absolute_noise, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -worley_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space") , - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - uniform cell_type mode = simple_cells - [[ - anno::display_name("Cell type") , - anno::description("Cell pattern type"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(10) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(9) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]]) -[[ - anno::display_name("Cellular noise texture"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(36), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_texture( - color1: color1, - color2: color2, - mode: mode==crystal_cells?2:mode==bordered_cells?3:0, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 worley_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated Worley noise normal perturbation.") - ]], - uniform cell_base metric = circular_cells - [[ - anno::display_name("Cell shape") , - anno::description("The shape of the cell form"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = true - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(5) - ]], - uniform float noise_threshold_high = 1. - [[ - anno::hard_range(0.0,1.), - anno::description("Lowering this value will create bigger areas uniformly colored with Color 1"), - anno::display_name("Upper threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(3) - ]], - uniform float noise_threshold_low = 0. - [[ - anno::hard_range(0.0,1.), - anno::description("Increasing this value will create bigger areas uniformly colored with Color 2"), - anno::display_name("Lower threshold"), - anno::in_group("Noise parameters"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(8) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(7) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(6) - ]]) -[[ - anno::display_name("Cellular noise texture -- bump mapping"), - anno::description("Allow texturing with a cell forming pattern"), - anno::thumbnail(".thumbs/worley_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Worley"), - icon(".icons/cellular_noise_texture.svg"), - anno::ui_order(37), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::worley_noise_bump_texture( - factor: factor, - metric: metric, - noise_threshold_high: noise_threshold_high, - noise_threshold_low: noise_threshold_low, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -flow_noise_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - uniform int noise_levels = 3 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3) - - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4) - - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the third dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9), - anno::soft_range(0.0,1.0) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(15) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(14) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(13) - ]]) -[[ - anno::display_name("Flow noise texture"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(38), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_texture( - color1: color1, - color2: color2, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 flow_noise_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the generated flow-noise normal perturbation.") - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(12) - ]], - uniform int noise_levels = 1 - [[ - anno::description("Higher amounts will add detail to the noise"), - anno::display_name("Levels"), - anno::hard_range(1,6), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(1) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(8) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(9) - ]], - uniform bool absolute_noise = false - [[ - anno::display_name("Billowing appearance"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(2), - anno::description("Enables billowing noise by folding negative noise values into the positive range.") - ]], - uniform float phase = 0.0 - [[ - anno::display_name("Phase offset"), - anno::description("Controls the 3rd dimension of the function"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,1.0) - ]], - uniform float level_gain = 0.5 - [[ - anno::display_name("Level intensity gain"), - anno::description("If multiple levels are used, this parameter specifies a weighting factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(4), - anno::soft_range(0.0,1.0) - ]], - uniform float level_scale = 2.0 - [[ - anno::display_name("Level scaling"), - anno::description("If multiple levels are used, this parameter specifies a global scaling factor for subsequent levels"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(5), - anno::soft_range(0.0,4.0) - ]], - uniform float level_progressive_u_scale = 1. - [[ - anno::display_name("Progressive u scale"), - anno::description("If multiple levels are used, this parameter specifies an additional scaling factor in the \"u\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,1.0) - ]], - uniform float level_progressive_v_motion = 0. - [[ - anno::display_name("Progressive v offset"), - anno::description("If multiple levels are used, this parameter specifies an offset for subsequent levels in the \"v\" direction"), - anno::in_group("Noise parameters"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(7), - anno::soft_range(0.0,1.0) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(11) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(10) - ]] -) -[[ - anno::display_name("Flow noise texture -- bump mapping"), - anno::description("Allow texturing with a 2D noise pattern suitable for waves"), - anno::thumbnail(".thumbs/flow_noise_bump_texture.png"), - anno::in_group("Texturing", "Noise", "Flow"), - icon(".icons/flow_noise_texture.svg"), - anno::ui_order(39), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::flow_noise_bump_texture( - factor: factor, - levels: noise_levels, - phase: phase, - level_gain: level_gain, - level_scale: level_scale, - level_progressive_u_scale: level_progressive_u_scale, - level_progressive_v_motion: level_progressive_v_motion, - absolute_noise: absolute_noise, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export texture_return -[[ anno::node_output_port_default(anno::node_port_value_and_fields)]] -checker_texture( - color color1 = color(1.) - [[ - anno::display_name("Color 1"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0) - ]], - color color2 = color(0.) - [[ - anno::display_name("Color 2"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(7) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("3D checker texture"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(40), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_texture( - color1: color1, - color2: color2, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 checker_bump_texture( - uniform float factor = 1. - [[ - anno::display_name("Bump strength"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(0), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the checker pattern.") - ]], - uniform float blur = 0 - [[ - anno::hard_range(0.0,1.0), - anno::display_name("Blur"), - anno::in_group("Checker parameters"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(1), - anno::description("Amount of softening applied to checker cell boundaries.") - ]], - uniform bool object_space = false - [[ - anno::description("If off, UV space will be used. If on, 3D texturing in object space will apply. For applications that do not support object space, world space will be used."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(2) - ]], - float3 scaling = float3(10.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(6) - ]], - float3 translation = float3(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(5) - ]], - float3 rotation = float3(0.) - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(4) - ]], - uniform int texture_space = 0 - [[ - anno::description("Only applies if \"Use object space\" is off. Selects a specific UV space."), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(3) - ]] -) -[[ - anno::display_name("3D checker texture -- bump mapping"), - anno::description("Allows texturing a checkerboard pattern"), - anno::thumbnail(".thumbs/checker_bump_texture.png"), - anno::in_group("Texturing", "Checker"), - icon(".icons/checker_3d_texture.svg"), - anno::ui_order(41), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::checker_bump_texture( - factor: factor, - blur: blur/4., - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: object_space?scaling*state::meters_per_scene_unit() :scaling, - translation: translation, - rotation: math::radians(rotation) - ), - coordinate: object_space? - base::coordinate_source(coordinate_system: base::texture_coordinate_object): - base::coordinate_source(texture_space: texture_space) - ) - ); -} - -export float3 file_bump_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Bitmap texture used as the bump source.") - ]], - uniform mono_mode bump_source = mono_average - [[ - anno::display_name("Bump mode"), - anno::description("Defines how the texture is evaluated to create the bumps"), - anno::in_group("Bitmap parameters"), - anno::ui_order(2) - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat"), - anno::display_name("Clip"), - anno::in_group("Placement"), - anno::ui_order(5) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Bump strength"), - anno::in_group("Bitmap parameters"), - anno::ui_order(3), - anno::soft_range(0.0,1.0), - anno::description("Overall bump intensity applied to the sampled bitmap bump values.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - anno::ui_order(4) - ]] -) -[[ - anno::display_name("Bitmap texture, bump"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_bump_texture.png"), - anno::in_group("Texturing"), - icon(".icons/bitmap_texture.svg"), - anno::ui_order(31), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::file_bump_texture( - texture: texture, - bump_source: bump_source, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - clip: clip - ); -} - -export float3 normalmap_texture( - uniform texture_2d texture - [[ - anno::display_name("Normalmap file"), - anno::in_group("Normalmap parameters"), - icon(".icons/normal_map_texture.svg"), - anno::usage("normal"), - anno::ui_order(1), - anno::description("Tangent-space normal map texture.") - ]], - float2 scaling = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(8) - ]], - float2 translation = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(7) - ]], - float rotation = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6), - anno::soft_range(0.0,360.0) - ]], - uniform bool clip = false - [[ - anno::description("If set to true, texture will not repeat. Outside of the texture the surface will be flat."), - anno::display_name("Clip"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(4) - - ]], - uniform float factor = 1 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(2), - anno::soft_range(0.0,1.0), - anno::description("Strength multiplier applied to the sampled normal-map perturbation.") - ]], - uniform int texture_space = 0 - [[ - anno::description("Selects a specific UV space"), - anno::display_name("UV space index"), - anno::hard_range(0,3), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(3) - ]], - uniform bool flip = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("Placement"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(6) - ]] -) -[[ - anno::display_name("Normal map texture"), - anno::description("Allows the use of tangent space normal maps"), - anno::thumbnail(".thumbs/normalmap_texture.png"), - anno::in_group("Texturing"), - icon(".icons/normal_map_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - return base::tangent_space_normal_texture( - texture: texture, - factor: factor, - uvw: base::transform_coordinate( - transform: rotation_translation_scale( - scaling: float3(scaling.x, scaling.y, 1.0), - rotation: float3(0.0, 0.0, math::radians(rotation) ), - translation: float3(translation.x, translation.y, 0.0) - ), - coordinate: base::coordinate_source(texture_space: texture_space) - ), - wrap_u: clip?tex::wrap_clamp:tex::wrap_repeat, - wrap_v: clip?tex::wrap_clamp:tex::wrap_repeat, - flip_tangent_v: flip, - clip: clip - ); -} -export float3 triplanar_normalmap_texture( - uniform texture_2d texture_1 - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(0), - anno::description("Primary normal map used for triplanar projection (X axis, and fallback for missing optional textures).") - ]], - float2 scaling_1 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(1) - ]], - float2 translation_1 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(2) - ]], - float rotation_1 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(3), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_1 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("1st Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(4) - ]], - uniform texture_2d texture_2 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::usage("normal"), - anno::ui_order(4), - anno::description("Optional normal map used for the second triplanar projection axis (Y axis).") - ]], - float2 scaling_2 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(5) - ]], - float2 translation_2 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::ui_order(6) - ]], - float rotation_2 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(7), - anno::enable_if( "tex::texture_isvalid(texture_2)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_2 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("2nd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8) - ]], - uniform texture_2d texture_3 = texture_2d() - [[ - anno::display_name("Bitmap file"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(8), - anno::usage("normal"), - anno::description("Optional normal map used for the third triplanar projection axis (Z axis).") - ]], - float2 scaling_3 = float2(1.) - [[ - anno::description("Controls the scale of the texture on the object"), - anno::display_name("Tiling"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(9) - ]], - float2 translation_3 = float2(0.) - [[ - anno::description("Controls position of the texture on the object"), - anno::display_name("Offset"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::ui_order(10) - ]], - float rotation_3 = 0. - [[ - anno::description("Rotation angle of the texture in degrees"), - anno::display_name("Rotation"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(11), - anno::enable_if( "tex::texture_isvalid(texture_3)" ), - anno::soft_range(0.0,360.0) - ]], - uniform bool flip_3 = false - [[ - anno::description("Flip handedness of the tangent space"), - anno::display_name("Flip V"), - anno::in_group("3rd Bitmap parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(12) - ]], - float blend_range = 0.5 - [[ - anno::description("Defines the size of the transition area. 0 means hard transition, 1 means blending happens very softly."), - anno::display_name("Blend range"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(13), - anno::hard_range(0.0,1.0) - ]], - float strength = 1.0 - [[ - anno::description("Overall strength of the normalmap"), - anno::display_name("Strength"), - anno::in_group("Common parameters"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(14), - anno::soft_range(0.0,10.0) - ]], - uniform float3 rotate_origin = float3(0.0) - [[ - anno::description("Allows manual alignment of the projection with an object"), - anno::display_name("Rotation of origin"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(16), - anno::soft_range(float3(0.0),float3(360.0)) - ]], - uniform bool object_space = true - [[ - anno::description("If off, world space will be used for generating texture coordinates. If on, object space will apply."), - anno::display_name("Use object space"), - anno::in_group("Placement"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Triplanar Normalmap texture"), - anno::description("Allows texturing using image files of various file formats"), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Triplanar"), - icon(".icons/triplanar_texture.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - state::coordinate_space space = object_space?state::coordinate_object:state::coordinate_world; - - float3 normal = state::transform_normal(state::coordinate_internal, space, state::normal()); - float3 position_original = state::transform_point(state::coordinate_internal, space, state::position()); - float3 rotation_origin_rad = math::radians(rotate_origin); - normal = transform_rotate(normal, rotation_origin_rad); - float3 position = transform_rotate(position_original, rotation_origin_rad); - float3 ty = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,-1.,0.)),rotation_origin_rad)); - float3 tz = - math::normalize( - transform_rotate_inv(state::transform_vector(space,state::coordinate_internal,float3(0.,0.,-1.)),rotation_origin_rad)); - - float3 weights = math::abs(normal); - - //TODO: blendrange through pow or is there something better? Pow means relatively little area where only 1 texture is looked up - weights /=math::max_value(weights); - weights = math::pow(weights,1./math::max(blend_range, 0.001)); - - - - float2 st1 = normal.x>0.0?float2(-position.z,position.y):float2(-position.z,-position.y); - float3 ts = math::normalize(math::cross(state::normal(),tz)); - float3 tt1 = math::normalize(math::cross(state::normal(),ts)); - - float2 st2 = normal.y>0?float2(-position.z,-position.x):float2(-position.z,position.x); - - float2 st3 = normal.z>0?float2(-position.y,position.x):float2(-position.y,-position.x); - float3 ts3 = math::normalize(math::cross(state::normal(),ty)); - float3 tt3 = math::normalize(math::cross(state::normal(),ts3)); - - tt3 = ( (tex::texture_isvalid(texture_3) && flip_3) || flip_1)? -tt3: tt3; - float3 tt2 = ( (tex::texture_isvalid(texture_2) && flip_2) || flip_1)? -tt1: tt1; - tt1 = flip_1? -tt1: tt1; - - float rotation_1_rad = math::radians(rotation_1); - float3x3 tan_rotation_mat_1 = axis_rotation_matrix(state::normal(), -rotation_1_rad); - float3 n1 = weights.x>0 && tex::texture_isvalid(texture_1)? - (support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st1))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength); - n1 = math::normalize( - ts * tan_rotation_mat_1 * n1.x + - tt1 * tan_rotation_mat_1 * n1.y + - state::normal() * (n1.z + (1.0 - strength))); - - float rotation_2_rad = math::radians(rotation_2); - float3x3 tan_rotation_mat_2 = tex::texture_isvalid(texture_2) - ? axis_rotation_matrix(state::normal(), -rotation_2_rad) - : tan_rotation_mat_1; - float3 n2 = weights.y>0? tex::texture_isvalid(texture_2)? - (support_definitions::lookup_float3( - texture_2, - support_definitions::transform_st(rotation_2_rad,translation_2,scaling_2,st2))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st2))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n2 = math::normalize( - ts * tan_rotation_mat_2 * n2.x + - tt2 * tan_rotation_mat_2 * n2.y + - state::normal() * (n2.z + (1.0 - strength))); - - float rotation_3_rad = math::radians(rotation_3); - float3x3 tan_rotation_mat_3 = tex::texture_isvalid(texture_3) - ? axis_rotation_matrix(state::normal(), -rotation_3_rad) - : tan_rotation_mat_1; - float3 n3 = weights.z>0? tex::texture_isvalid(texture_3)? - (support_definitions::lookup_float3( - texture_3, - support_definitions::transform_st(rotation_3_rad,translation_3,scaling_3,st3))- float3(0.5)) * (2.0 * strength) - :tex::texture_isvalid(texture_1)?(support_definitions::lookup_float3( - texture_1, - support_definitions::transform_st(rotation_1_rad,translation_1,scaling_1,st3))- float3(0.5)) * (2.0 * strength) - :float3(0.,0.,strength):float3(0.,0.,strength); - n3 = math::normalize( - ts3 * tan_rotation_mat_3 * n3.x + - tt3 * tan_rotation_mat_3 * n3.y + - state::normal() * (n3.z + (1.0 - strength))); - - return blend_3_normals(n1,weights.x,n2,weights.y,n3,weights.z); -} - -// Morten S. Mikkelsen, Practical Real-Time Hex-Tiling, Journal of Computer Graphics -// Techniques (JCGT), vol. 11, no. 2, 77-94, 2022 -// http://jcgt.org/published/0011/03/05/ -struct hextile_data { - float2 coord1; - float2 coord2; - float2 coord3; - float3 weights; - float3x3 tangent_rot_mat1; - float3x3 tangent_rot_mat2; - float3x3 tangent_rot_mat3; -}; - -hextile_data hextile_coord( - float2 coord, - float rotation, - float2 rotation_range, - float scale, - float2 scale_range, - float offset, - float2 offset_range) -{ - float sqrt3_2 = math::sqrt(3.0) * 2.0; - - // scale coord to maintain the original fit - float2 st = coord * sqrt3_2; - - // skew input space into simplex triangle grid - // (1, 0, -tan(30), 2*tan(30)) - float2x2 to_skewed = float2x2(1.0, 0.0, -0.57735027, 1.15470054); - float2 st_skewed = to_skewed * st; - - // barycentric weights - float2 st_frac = math::frac(st_skewed); - float3 temp = float3(st_frac.x, st_frac.y, 0.0); - temp.z = 1.0 - temp.x - temp.y; - - float s = math::step(0.0, -temp.z); - float s2 = 2.0 * s - 1.0; - - float w1 = -temp.z * s2; - float w2 = s - temp.y * s2; - float w3 = s - temp.x * s2; - - // vertex IDs - int2 base_id = int2(math::floor(st_skewed)); - int si = int(s); - int2 id1 = base_id + int2(si, si); - int2 id2 = base_id + int2(si, 1 - si); - int2 id3 = base_id + int2(1 - si, si); - - // tile center - float2x2 inv_skewed = float2x2(1.0, 0.0, 0.5, 1.0 / 1.15470054); - float2 ctr1 = inv_skewed * float2(id1) / float2(sqrt3_2); - float2 ctr2 = inv_skewed * float2(id2) / float2(sqrt3_2); - float2 ctr3 = inv_skewed * float2(id3) / float2(sqrt3_2); - - // reuse hash for performance - float2 seed_offset = float2(0.12345); // to avoid some zeros - float2 rand1 = hash22(float2(id1) + seed_offset); - float2 rand2 = hash22(float2(id2) + seed_offset); - float2 rand3 = hash22(float2(id3) + seed_offset); - - // randomized rotation matrix - float2 rr = math::radians(rotation_range); - float rrr1 = math::lerp(rr.x, rr.y, rand1.x * rotation); - float rrr2 = math::lerp(rr.x, rr.y, rand2.x * rotation); - float rrr3 = math::lerp(rr.x, rr.y, rand3.x * rotation); - float[2] sc1 = math::sincos(rrr1); - float[2] sc2 = math::sincos(rrr2); - float[2] sc3 = math::sincos(rrr3); - float2x2 rm1 = float2x2(sc1[1], -sc1[0], sc1[0], sc1[1]); - float2x2 rm2 = float2x2(sc2[1], -sc2[0], sc2[0], sc2[1]); - float2x2 rm3 = float2x2(sc3[1], -sc3[0], sc3[0], sc3[1]); - - // rotation matrix for tangent vectors - float3x3 trm1 = axis_rotation_matrix(state::normal(), -rrr1); - float3x3 trm2 = axis_rotation_matrix(state::normal(), -rrr2); - float3x3 trm3 = axis_rotation_matrix(state::normal(), -rrr3); - - // randomized scale - float2 sr = scale_range; - float2 scale1 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand1.y), scale); - float2 scale2 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand2.y), scale); - float2 scale3 = math::lerp(1.0, math::lerp(sr.x, sr.y, rand3.y), scale); - - // randomized offset - float2 offset1 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand1 * offset); - float2 offset2 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand2 * offset); - float2 offset3 = math::lerp(float2(offset_range.x), float2(offset_range.y), rand3 * offset); - - // get coord - float2 st1 = ((coord - ctr1) * rm1 / scale1) + ctr1 + offset1; - float2 st2 = ((coord - ctr2) * rm2 / scale2) + ctr2 + offset2; - float2 st3 = ((coord - ctr3) * rm3 / scale3) + ctr3 + offset3; - - hextile_data tile_data = hextile_data(st1, st2, st3, float3(w1, w2, w3), trm1, trm2, trm3); - - return tile_data; -} - -export color hextiling_file_texture( - uniform texture_2d texture - [[ - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Bitmap texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - color default_color = color(0.0) - [[ - anno::display_name("Default color"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback color returned when no valid texture is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float falloff_contrast = 0.5 - [[ - anno::display_name("Falloff Contrast"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(11), - anno::description("Controls how strongly luminance influences blending weights.") - ]] -) -[[ - anno::display_name("Hextiling Bitmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_color; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup texture - color c1 = tex::lookup_color(texture, tile_data.coord1); - color c2 = tex::lookup_color(texture, tile_data.coord2); - color c3 = tex::lookup_color(texture, tile_data.coord3); - - // luminance as weight - float3 cw = float3(math::luminance(c1), math::luminance(c2), math::luminance(c3)); - cw = math::lerp(float3(1.0), cw, float3(falloff_contrast)); - - // blend weights - float3 w = cw * math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - color out_color = w.x * c1 + w.y * c2 + w.z * c3; - - return out_color; -} - -export float3 hextiling_normalmap_texture( - uniform texture_2d texture - [[ - anno::usage("normal"), - anno::display_name("Bitmap file"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(0), - anno::description("Normal map texture sampled by the hextiling algorithm.") - ]], - uniform int texture_space = 0 - [[ - anno::display_name("UV space index"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(1), - anno::description("UV set index used for texture-coordinate lookup.") - ]], - float3 default_normal = state::normal() - [[ - anno::display_name("Default normal"), - anno::in_group("Bitmap parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(2), - anno::description("Fallback normal returned when no valid normal map is provided.") - ]], - float2 repeat = float2(1.0, 1.0) - [[ - anno::display_name("Tiling"), - anno::in_group("Placement"), - icon(".icons/hextiling.svg"), - anno::ui_order(3), - anno::description("UV tiling multiplier applied before hextiling.") - ]], - float rotation = 1.0 - [[ - anno::display_name("Rotation"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(4), - anno::description("Random rotation amount; 0 disables random rotation and 1 uses the full rotation range.") - ]], - float2 rotation_range = float2(0.0, 360.0) - [[ - anno::display_name("Rotation Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(5), - anno::description("Minimum and maximum random rotation in degrees.") - ]], - float scale = 1.0 - [[ - anno::display_name("Scale"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(6), - anno::description("Random scale amount; 0 disables random scaling and 1 uses the full scale range.") - ]], - float2 scale_range = float2(0.5, 2.0) - [[ - anno::display_name("Scale Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(7), - anno::description("Minimum and maximum random tile scale.") - ]], - float offset = 1.0 - [[ - anno::display_name("Offset"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(8), - anno::description("Random offset amount; 0 disables random offsets and 1 uses the full offset range.") - ]], - float2 offset_range = float2(0.0, 1.0) - [[ - anno::display_name("Offset Range"), - anno::in_group("Randomization"), - icon(".icons/hextiling.svg"), - anno::ui_order(9), - anno::description("Minimum and maximum random UV offset applied per tile.") - ]], - float falloff = 0.5 - [[ - anno::display_name("Falloff"), - anno::in_group("Blending"), - icon(".icons/hextiling.svg"), - anno::soft_range(0.0, 1.0), - anno::ui_order(10), - anno::description("Controls how quickly tile blending transitions between neighboring tiles.") - ]], - float strength = 1.0 - [[ - anno::display_name("Strength"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(11), - anno::soft_range(0.0, 1.0), - anno::description("Strength multiplier applied to sampled normal-map perturbations.") - ]], - uniform bool flip_g = false - [[ - anno::display_name("Flip V"), - anno::in_group("Normal map parameters"), - icon(".icons/hextiling.svg"), - anno::ui_order(12), - anno::description("Flips the green (Y) channel of the sampled normal maps.") - ]] -) -[[ - anno::display_name("Hextiling Normalmap texture"), - anno::description("Allows infinite texturing without obvious repeat patterns."), - anno::thumbnail(".thumbs/file_texture.png"), - anno::in_group("Texturing", "Hextiling"), - icon(".icons/hextiling.svg"), - anno::ui_order(32), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT) -]] -{ - if (!tex::texture_isvalid(texture)) - return default_normal; - - - float3 uvw = state::texture_coordinate(texture_space); - float2 coord = float2(uvw.x, uvw.y) * repeat; - - // get triangle coord - hextile_data tile_data = hextile_coord( - coord: coord, - rotation: rotation, - rotation_range: rotation_range, - scale: scale, - scale_range: scale_range, - offset: offset, - offset_range: offset_range - ); - - // lookup normalmap - float3 nm1 = tex::lookup_float3(texture, tile_data.coord1); - float3 nm2 = tex::lookup_float3(texture, tile_data.coord2); - float3 nm3 = tex::lookup_float3(texture, tile_data.coord3); - nm1.y = flip_g ? 1.0 - nm1.y : nm1.y; - nm2.y = flip_g ? 1.0 - nm2.y : nm2.y; - nm3.y = flip_g ? 1.0 - nm3.y : nm3.y; - - // transform to geometry normals - nm1 = 2.0 * nm1 - 1.0; - nm2 = 2.0 * nm2 - 1.0; - nm3 = 2.0 * nm3 - 1.0; - float3 sn = state::normal(); - float3 tu1 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat1 * strength; - float3 tu2 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat2 * strength; - float3 tu3 = state::texture_tangent_u(0) * tile_data.tangent_rot_mat3 * strength; - float3 tv1 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat1 * strength; - float3 tv2 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat2 * strength; - float3 tv3 = state::texture_tangent_v(0) * tile_data.tangent_rot_mat3 * strength; - float3 n1 = math::normalize(tu1 * nm1.x + tv1 * nm1.y + sn * nm1.z); - float3 n2 = math::normalize(tu2 * nm2.x + tv2 * nm2.y + sn * nm2.z); - float3 n3 = math::normalize(tu3 * nm3.x + tv3 * nm3.y + sn * nm3.z); - - // belnd weights - float3 w = math::pow(tile_data.weights, 7.0); - w /= (w.x + w.y + w.z); - - // apply s-curve gain - if (falloff != 0.5) - { - w.x = schlick_gain(w.x, falloff); - w.y = schlick_gain(w.y, falloff); - w.z = schlick_gain(w.z, falloff); - w /= (w.x + w.y + w.z); - } - - // blend - float3 out_normal = gradient_blend_3_normals(n1, w.x, n2, w.y, n3, w.z); - - return out_normal; -} - -//endgroup - -//material section----------------------------------------------------------------------------------------------- - -//group Simple materials - -export material diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead a powdery appearance") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple diffuse"), - anno::description("A basic diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(0), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::diffuse_reflection_bsdf( - roughness: roughness, - tint: diffuse_color - ) - ) - ) -); - -export material dusty_diffuse( - color diffuse_color = color(.8) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Dusty diffuse"), - anno::description("A dusty diffuse material"), - anno::thumbnail(".thumbs/diffuse.png"), - anno::in_group("Materials", "Diffuse"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic")) -]] - = material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::dusty_diffuse_reflection_bsdf( - tint: diffuse_color - ) - ) - ) -); - -export material scratched_metal_v2( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::ui_order(1), - anno::description("The color of the metal") - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::ui_order(3), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::ui_order(4), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::ui_order(5), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::ui_order(6), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::ui_order(7), - anno::description("Attach bump or normal maps here") - ]], - color edge_color = color(1.0) - [[ - anno::display_name("Edge color"), - anno::ui_order(2), - anno::description("The color of the metal towards the edge") - ]] -) -[[ - anno::display_name("Metal"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::in_group("Materials"), - anno::ui_order(1), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - complex_ior ior = artistic_metal_to_complex_ior(metal_color, edge_color); - bsdf glossy_bsdf = df::fresnel_factor( - ior: ior.n, - extinction_coefficient: ior.k, - base: df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ) - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic_v2( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.2 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::in_group("Materials"), - anno::ui_order(2), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness*roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material retroreflective( - color base_color = color(.2,.03,.03) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - color reflection_color = color(.8,.8,.03) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the retroreflection"), - anno::ui_order(2) - ]], - float roughness = 0.15 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - float normal_reflectivity = .05 - [[ - anno::display_name("Reflection weight facing"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for geometry facing the viewer"), - anno::ui_order(4) - ]], - float grazing_reflectivity = 1. - [[ - anno::display_name("Reflection weight edge"), - anno::hard_range(0.0,1.), - anno::description("Reflectivity control for the reflectivity at geometry edges"), - anno::ui_order(5) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Retroreflective"), - anno::description("A material with a retroreflective component, works well for road signs and retroreflective stickers"), - anno::thumbnail(".thumbs/retroreflective.png"), - anno::in_group("Materials"), - anno::ui_order(3), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","retroreflective","roadsign","stone")) -]] - = let{ - bsdf glossy_bsdf = df::backscattering_glossy_reflection_bsdf( - tint: reflection_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::custom_curve_layer( - normal_reflectivity: 1.-normal_reflectivity, - grazing_reflectivity: 1.-grazing_reflectivity, - base: glossy_bsdf, - layer: df::diffuse_reflection_bsdf( - roughness: 1.0, - tint: base_color - ), - normal: normal - ) - ) - ) -); - -export material flex_material_v2( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - float is_metal = 0.0 - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If 1.0, reflection will be colored and independent of view direction. If 0.0, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.3 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object compared to its diffuse reflectivity."), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass."), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\" (m)."), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85"), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(5), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness*reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness*transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = df::weighted_layer( - is_metal, - df::weighted_layer( - weight: reflectivity, - layer: df::directional_factor(base_color,color(1.0),5.,glossy_bsdf), - base: add_transparency, - normal: normal - ), - df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ) - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass_v2( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(6), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_transmission_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent_v2( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(7), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass_v2( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::in_group("Materials", "Glass"), - anno::ui_order(8), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf glossy_bsdf_transmission = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness*roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent_v2( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::in_group("Materials", "Translucent"), - anno::ui_order(9), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness*roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -//endgroup - -//group Modifier materials - -export material blend( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float weight = 0. - [[ - anno::display_name("Blend weight"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]] -) -[[ - anno::display_name("Blend materials"), - anno::description("Blend characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/blend.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/generic_blend.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = let { - float inv_weight = 1.0f - weight; -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: material_emission( - mode: base.surface.emission.mode, //cant vary - intensity: math::lerp(base.surface.emission.intensity,blend.surface.emission.intensity, weight), - emission: df::unbounded_mix( - df::edf_component[] - ( - df::edf_component(inv_weight,base.surface.emission.emission), - df::edf_component(weight,blend.surface.emission.emission) - ) - ) - ) - ), - volume: material_volume( - scattering: df::unbounded_mix( - df::vdf_component[] - ( - df::vdf_component(inv_weight,base.volume.scattering), - df::vdf_component(weight,blend.volume.scattering) - ) - ), - absorption_coefficient: math::lerp(base.volume.absorption_coefficient,base.volume.absorption_coefficient,weight), - scattering_coefficient: math::lerp(base.volume.scattering_coefficient,base.volume.scattering_coefficient,weight), - emission_intensity: math::lerp(base.volume.emission_intensity,blend.volume.emission_intensity, weight) - - ), - ior: base.ior, //can't vary - thin_walled: base.thin_walled, //can't vary - geometry: material_geometry( - displacement: math::lerp(base.geometry.displacement, blend.geometry.displacement, weight), - cutout_opacity: math::lerp(base.geometry.cutout_opacity, blend.geometry.cutout_opacity, weight), - normal: blend_normals(base.geometry.normal, inv_weight, blend.geometry.normal, weight) - ) -); - -export material twosided( - material front = scratched_plastic_v2() - [[ - anno::display_name("Front material"), - anno::description("The material on the front faces.") - ]], - material back = scratched_metal_v2() - [[ - anno::display_name("Back material"), - anno::description("The material on the back faces.") - ]] -) -[[ - anno::display_name("Two-sided materials"), - anno::description("Allows you to apply a material to front and back surfaces."), - anno::thumbnail(".thumbs/twosided.png"), - anno::in_group("Material modifiers"), - icon(".icons/two_sided_materials.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - thin_walled: true, - ior: front.ior, - surface: front.surface, - backface: back.surface, - geometry: front.geometry -); - -export material surface_falloff( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material the blend is based on") - ]], - material blend = scratched_metal_v2() - [[ - anno::display_name("Blend Material"), - anno::description("Surface properties to use for the blend") - ]], - float facing_weight = 0.0 - [[ - anno::display_name("Blend weight facing"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float edge_weight = 1.0 - [[ - anno::display_name("Blend weight edge"), - anno::hard_range(0.0,1.), - anno::description("Blend weight or mask texture") - ]], - float blend_bias = 1. - [[ - anno::display_name("Blend bias"), - anno::soft_range(0.0,10.), - anno::description("Controls how fast the transition should happen. 5.0 results in fresnel like transition.") - ]] -) -[[ - anno::display_name("Surface falloff"), - anno::description("Blend surface characteristics of 2 materials or mask them using a texture"), - anno::thumbnail(".thumbs/surface_falloff.png"), - anno::in_group("Material modifiers", "Blend"), - icon(".icons/surface_falloff.svg"), - anno::ui_order(15), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(combiner_material), - anno::key_words(string[]("combiner","generic")) -]] - = material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: 1., - exponent: blend_bias, - normal_reflectivity: facing_weight, - grazing_reflectivity: edge_weight, - layer: blend.surface.scattering, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_clearcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_clear_coating.svg"), - anno::ui_order(16), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_thinfilm( - material base = scratched_metal_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get shows a thin film effect") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("The IOR of the thin film interface") - ]], - float thickness = 400.0 - [[ - anno::display_name("Thickness"), - anno::soft_range(10.0,5000.0), - anno::description("Thickness of the thin film in nm") - ]] -) -[[ - anno::display_name("Apply thin film"), - anno::description("Apply thin film to an existing material"), - anno::thumbnail(".thumbs/apply_thinfilm.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_film.svg"), - anno::ui_order(17), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::thin_film( - ior: color(ior), - thickness: thickness, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat_v2( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_thin_metal_coating.svg"), - anno::ui_order(18), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::microfacet_ggx_smith_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness*roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_dustcover( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color dust_color = color(.7) - [[ - anno::display_name("Dust color"), - anno::description("The color of the dust") - ]], - float visibility = 1. - [[ - anno::display_name("Dust density"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the cover") - ]], - uniform float dust_density = .5 - [[ - anno::display_name("Dust amount"), - anno::hard_range(.01,1), - anno::description("How dusty the material is") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Apply a cover of dust"), - anno::description("Apply a diffuse cover of dust or dirt"), - anno::thumbnail(".thumbs/apply_dustcover.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_dust_cover.svg"), - anno::ui_order(19), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf dust_bsdf = df::diffuse_reflection_bsdf( - roughness: 1., - tint: dust_color - ); -} in material( - surface: material_surface( - scattering: df::custom_curve_layer( - weight: visibility, - normal_reflectivity: dust_density*dust_density*dust_density, - exponent: (1.05-dust_density)*2., - normal: normal, - layer: dust_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_colorfalloff_v2( - material base = scratched_metal_v2(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - uniform color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("Color 1 (facing direction)") - ]], - uniform color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("Color 2") - ]], - uniform color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("Color 3") - ]], - uniform color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("Color 4") - ]], - uniform color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("Color 5 (object edges)") - ]] -) -[[ - anno::display_name("Apply a color falloff"), - anno::description("Makes the color view dependent"), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/apply_color_falloff.svg"), - anno::ui_order(20), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//JAN: TODO fix from here -export material apply_metallicflakes( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a flake layer applied") - ]], - color flake_color = color(.9,.7,.5) - [[ - anno::display_name("Color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.5 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = 0.5 - [[ - anno::display_name("Flake opacity"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]] -) -[[ - anno::display_name("Apply flake coating"), - anno::description("Apply layer of metallic flakes to an existing material"), - anno::thumbnail(".thumbs/apply_metallicflakes.png"), - anno::in_group("Material modifiers", "Coating"), - icon(".icons/apply_flake_coating.svg"), - anno::ui_order(21), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flake_paint( - color base_color = color(.3,.01,.01) - [[ - anno::display_name("Base color"), - anno::description("The color of the base paint") - ]], - color flake_color = color(.6,1,.1) - [[ - anno::display_name("Flake color"), - anno::description("The color of the flakes") - ]], - float roughness = 0.15 - [[ - anno::display_name("Flake roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metallic flakes") - ]], - uniform float size = 1. - [[ - anno::display_name("Flake size"), - anno::description("Determines size of the metallic flakes, in mm") - ]], - uniform float amount = 0.4 - [[ - anno::display_name("Flake amount"), - anno::hard_range(0.0,1.), - anno::description("Determines amount of visible metallic flakes") - ]], - uniform float opacity = .8 - [[ - anno::display_name("Flake weight"), - anno::hard_range(0.0,1.), - anno::description("Determines visibility of the metallic flakes") - ]], - uniform float bump = 1. - [[ - anno::display_name("Flake orientation randomness"), - anno::description("Larger numbers will increase the sparkle radius around highlights") - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat") - ]], - float coat_roughness = 0.0 - [[ - anno::display_name("Coat roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat") - ]], - float3 coat_bump = state::normal() - [[ - anno::display_name("Coat bump"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Flaky paint"), - anno::description("A multi layer paint material containing flakes"), - anno::thumbnail(".thumbs/flake_paint.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials"), - anno::ui_order(14), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("complex","carpaint")) -]] - = let{ - float3 flake_normal = base::flake_noise_bump_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - strength: bump, - scale: size * 0.001 - ); - float flake_opacity = base::flake_noise_texture( - uvw: base::coordinate_source(coordinate_system: base::texture_coordinate_object), - intensity: opacity, - scale: size * 0.001, - density: amount - ).mono; - - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: flake_color - ); -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: coat_bump, - layer: df::simple_glossy_bsdf(roughness_u: coat_roughness), - base: df::weighted_layer( - normal: flake_normal, - weight: flake_opacity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf(tint: base_color) - ) - ) - ), - thin_walled: true -); - -export material add_cutout( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a cut-out") - ]], - float cutout = 1.0 - [[ - anno::display_name("Cutout"), - anno::hard_range(0.0,1.0), - anno::description("Determines where the object is visible") - ]] -) [[ - anno::display_name("Add cut-outs"), - anno::description("Adds cut-outs to existing materials. Also forces material to be thin-walled. Good for modeling leaves, grass or fences."), - anno::thumbnail(".thumbs/add_cutout.png"), - anno::in_group("Material modifiers"), - icon(".icons/add_cutouts.svg"), - anno::ui_order(22), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: true, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: cutout - ) -); - -export material add_simple_sticker( - color diffuse_color = color(.5) - [[ - anno::display_name("Sticker color"), - anno::description("The color of the material"), - anno::ui_order(2) - ]], - float roughness = 0.05 - [[ - anno::display_name("Sticker roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(3) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("Sticker IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Sticker reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(4) - ]], - float3 sticker_normal = state::normal() - [[ - anno::display_name("Sticker bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]], - float sticker_mask = 0.0 - [[ - anno::display_name("Sticker mask"), - anno::hard_range(0.0,1.0), - anno::description("Determines extent of the sticker"), - anno::ui_order(5) - ]], - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a sticker added"), - anno::ui_order(1) - ]] -) [[ - anno::display_name("Add simple sticker"), - anno::description("A quick way for adding simple stickers to a material. The sticker is a simple dielectric and needs a mask to define its extent."), - anno::thumbnail(".thumbs/add_simple_sticker.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_simple_sticker.svg"), - anno::ui_order(23), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = let{ - material blend_material = blend( - blend: scratched_plastic_v2( - diffuse_color: diffuse_color, - roughness: roughness, - ior: ior, - reflectivity: reflectivity, - normal: sticker_normal), - base: base, - weight: sticker_mask - ); -} in material( - surface: blend_material.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_globalbump( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bump"), - anno::description("An additional global bump map for the material. Local bump map of the base material is preserved.") - ]] -) [[ - anno::display_name("Add global bumpmap"), - anno::description("Adds global bumpmap to existing materials. Local bump map of the base material is preserved."), - anno::thumbnail(".thumbs/add_globalbump.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_global_bumpmap.svg"), - anno::ui_order(24), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get a bump map") - ]], - float displacement = 0.0 - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results.") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add displacement"), - anno::description("Adds displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: displacement*displacement_scale*state::scene_units_per_meter()*state::normal(), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_vector_displacement( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get displacement") - ]], - float3 displacement = float3(0.0) - [[ - anno::display_name("Displacement amount"), - anno::description("Attach displacement texture here. Note that the object needs to be set up correctly to have good displacement results") - ]], - uniform displacement_vector_space space = displacement_vector_tangent_space - [[ - anno::display_name("Displacement vector mode"), - anno::description("Specify the space of the vector dispacement map") - ]], - uniform float displacement_scale = 1.0 - [[ - anno::display_name("Displacement scale"), - anno::description("A global scale factor for the displacement amount") - ]] -) [[ - anno::display_name("Add vector displacement"), - anno::description("Adds vector displacement to existing materials"), - anno::thumbnail(".thumbs/add_displacement.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Displacement"), - icon(".icons/add_vector_displacement.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: state::scene_units_per_meter()*transform_displacement_vector(displacement, space, displacement_scale), - normal: base.geometry.normal, - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_round_edges( - material base = scratched_plastic_v2() - [[ - anno::display_name("Base material"), - anno::description("The material that will get round edges") - ]], - uniform float round_edges_radius = 0.02 - [[ - anno::display_name("Round edge radius"), - anno::description("Influence radius around the edges in meters") - ]], - uniform float round_edges_roundness = 1.0 - [[ - anno::display_name("Round edge roundness"), - anno::description("Determines how round the edge will look"), - anno::hard_range(0.0, 1.0) - ]], - uniform bool round_edges_across_materials = false - [[ - anno::display_name("Round edge across materials"), - anno::description("Normal smoothing happens only between facets of equal material, unless - this parameter is set true, in which case the smoothing happens between - facets irrespective of their materials") - ]] -) [[ - anno::display_name("Add round edges"), - anno::description("Adds round edges to existing materials"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers"), - icon(".icons/add_round_edges.svg"), - anno::ui_order(25), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic")) -]] = material( - surface: base.surface, - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: material_geometry( - displacement: base.geometry.displacement, - normal: state::rounded_corner_normal( - radius: round_edges_radius, - roundness: round_edges_roundness, - across_materials: round_edges_across_materials - ), - cutout_opacity: base.geometry.cutout_opacity - ) -); - -export material add_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add emission"), - anno::description("Adds emission to a material"), - anno::thumbnail(".thumbs/add_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_emission.svg"), - anno::ui_order(26), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: unit_intensity*tint*unit_scale, //for this mode, tint is assumes to be a color filter absorbing light - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material add_thermal_emission( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get emission added") - ]], - uniform float temperature = 6500. - [[ - anno::display_name("Temperature"), - anno::description("The color temperature of the light in Kelvin") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Add thermal emission"), - anno::description("Adds emission to a material, color is based on a \"color temperature\""), - anno::thumbnail(".thumbs/add_thermal_emission.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Material modifiers", "Emission"), - icon(".icons/add_thermal_emission.svg"), - anno::ui_order(27), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - suitable_as_light(), - anno::key_words(string[]("modifier","generic")) -]] = -let { - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; - color emission_color = math::blackbody(temperature); - - color scaled_intensity = unit_intensity * (emission_color / math::luminance(emission_color));} -in material( - surface: material_surface( - scattering: base.surface.scattering, - emission: material_emission( - emission: df::diffuse_edf(), - intensity: scaled_intensity, - mode: imode - ) - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); -//endgroup - -/**-*/ - -//group Emissive materials - -export material light_omni ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Diffuse emission"), - anno::description("Emissive material emitting in all directions"), - anno::thumbnail(".thumbs/light_omni.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::ui_order(5000), - anno::hidden(), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*math::PI; //diffuse emission is per projected hemisphere - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::diffuse_edf(), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_spot ( - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1000 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(), //deprecated - anno::description("Modeling unit to meter conversion factor") - ]], - uniform float spot_exponent = 30 - [[ - anno::display_name("Spot focus"), - anno::description("larger values lead to more focused spotlights") - ]], - uniform emission_type unit = lumen_m2 - [[ - anno::display_name("Unit for emission"), - anno::description("The physical unit of \"Intensity\"") - ]] -) [[ - anno::display_name("Spotlight emission"), - anno::description("Emissive material emitting focused in one direction"), - anno::thumbnail(".thumbs/light_spot.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5051), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = -let{ - //since this is a spotlight, we need the apex angle to convert from candela to lumen - //http://www.compuphase.com/electronics/candela_lumen.htm - //uniform float cos_apexangle_2 = math::pow(0.5,1./spot_exponent); //spot exponent 0 ->4pi - //uniform float apexfactor = 2*math::PI*(1.0-cos_apexangle_2); - - //correct integral - uniform float factor = (spot_exponent == 0)? 4*math::PI: 2*math::PI/(spot_exponent+1); - uniform float unit_intensity = (unit==lumen || unit==lumen_m2)?intensity:intensity*factor; - uniform intensity_mode imode = (unit==lumen || unit==candela)?intensity_power:intensity_radiant_exitance; -} in material ( - surface: material_surface ( - emission: material_emission ( - emission: df::spot_edf(exponent: spot_exponent,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*unit_intensity*unit_scale, - mode: imode - ) - ) -); - -export material light_ies ( - uniform light_profile profile - [[ - anno::display_name("IES light profile data"), - anno::description("Data to describe the distribution of the light") - ]], - color tint = color(1.) - [[ - anno::display_name("Color"), - anno::description("The color of the light") - ]], - uniform float intensity = 1 - [[ - anno::display_name("Intensity"), - anno::description("The brightness of the light source") - ]], - uniform float unit_scale = 1. - [[ - anno::display_name("Unit scale"), - anno::hidden(),//deprecated - anno::description("Modeling unit to meter conversion factor") - ]] -) [[ - anno::display_name("IES file based emission"), - anno::description("Emissive material emitting as described in an IES file"), - anno::thumbnail(".thumbs/light_ies.png"), - anno::author("NVIDIA Corporation"), - anno::in_group("Materials, lights"), - anno::hidden(), - anno::ui_order(5052), - anno::copyright_notice(COPYRIGHT), - anno::key_words(string[]("lightsource")), - suitable_as_light() -]] = material ( - surface: material_surface ( - emission: material_emission ( - emission: df::measured_edf(profile: profile,global_distribution: true, global_frame: float3x3(1.,0,0, 0,1.,0., 0.,0,-1) ), - intensity: tint*intensity*unit_scale - ) - ) -); - -//endgroup - -//group Deprecated - -//deprecated functionality=========================================================================================== -export annotation ui_position(int position); -export annotation typical_object_size(float size); - -export material metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflectivity"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple metal, deprecated"), - anno::description("A basic metallic material"), - anno::thumbnail(".thumbs/metal.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material") - ]], - float roughness = 0.25 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Simple plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic"), - anno::thumbnail(".thumbs/plastic.png"), - anno::author("NVIDIA Corporation"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_metal( - color metal_color = color(.9) - [[ - anno::display_name("Color"), - anno::description("The color of the metal") - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - float glossy_weight = .9 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Intensity of highlights and glossy reflections and highlights") - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight") - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees.") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Metal , deprecated"), - anno::description("A metallic material with stretched reflections"), - anno::thumbnail(".thumbs/scratched_metal.png"), - anno::hidden(), - //anno::deprecated("Use scratched_metal_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","metal")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: metal_color, - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::weighted_layer( - weight: glossy_weight, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: metal_color - ), - normal: normal - ) - ) - ) -); - -export material scratched_plastic( - color diffuse_color = color(.5) - [[ - anno::display_name("Color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float roughness = 0.05 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(2) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Anisotropy"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(4) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(5) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity"), - anno::ui_order(6) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Additional Reflectivity control"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(7) - ]] -) -[[ - anno::display_name("Plastic, deprecated"), - anno::description("A basic dielectric, works for everything opaque that is not metallic. Supports stretched highlights."), - anno::thumbnail(".thumbs/scratched_plastic.png"), - anno::hidden(), - //anno::deprecated("Use scratched_plastic_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","plastic","wood","stone")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); -} in material( - thin_walled: true, - surface: material_surface( - scattering: df::weighted_layer( - weight: 1., - normal: normal, - layer: df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: df::diffuse_reflection_bsdf( - roughness: 0.0, - tint: diffuse_color - ), - normal: normal - ) - ) - ) -); - -export material apply_colorfalloff( - material base = scratched_metal(metal_color: color(1.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied") - ]], - color color_0 = color(1.,0.,0.) - [[ - anno::display_name("Color 1"), - anno::description("The color of the dust") - ]], - color color_1 = color(0.,1.,0.) - [[ - anno::display_name("Color 2"), - anno::description("The color of the dust") - ]], - color color_2 = color(0.,0.,1.) - [[ - anno::display_name("Color 3"), - anno::description("The color of the dust") - ]], - color color_3 = color(1.,0.,0.) - [[ - anno::display_name("Color 4"), - anno::description("The color of the dust") - ]], - color color_4 = color(0.,1.,0.) - [[ - anno::display_name("Color 5"), - anno::description("The color of the dust") - ]] -) -[[ - anno::display_name("Apply a color falloff, deprecated"), - anno::description("Makes the color view dependent"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - anno::thumbnail(".thumbs/apply_colorfalloff.png"), - anno::hidden(), - //anno::deprecated("Use apply_colorfalloff_v2 instead"), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = material( - surface: material_surface( - scattering: df::measured_curve_factor( - curve_values: color[](color_0,color_1,color_2,color_3,color_4), - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material flex_material( - color base_color = color(.5) - [[ - anno::display_name("Base color"), - anno::in_group("Base"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - float diffuse_roughness = 0.0 - [[ - anno::display_name("Diffuse roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to a more \"powdery\" look"), - anno::ui_order(2) - ]], - uniform bool is_metal = false - [[ - anno::display_name("Metallic material"), - anno::in_group("Base"), - anno::description("If true, reflection will be colored and independent of view direction. If false, reflection will be white and direction dependent. Directional dependence is in this case based on the IOR (Fresnel effect)."), - anno::ui_order(3) - ]], - float reflectivity = 1.0 - [[ - anno::display_name("Reflection weight"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Controls the amount of reflection"), - anno::ui_order(5) - ]], - float reflection_roughness = 0.1 - [[ - anno::display_name("Reflection roughness"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to more blurry reflections"), - anno::ui_order(4) - ]], - float anisotropy = 0.0 - [[ - anno::display_name("Reflection anisotropy"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Higher values will stretch the highlight"), - anno::ui_order(6) - ]], - float anisotropy_rotation = 0.0 - [[ - anno::display_name("Anisotropy rotation"), - anno::in_group("Base"), - anno::hard_range(0.0,1.), - anno::description("Changes the orientation of the anisotropy. A value of 1 will rotate the orientation 360 degrees."), - anno::ui_order(7) - ]], - float transparency = 0.0 - [[ - anno::display_name("Transmission weight"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("Weights how much light passes through the object vs. its diffuse reflectivity"), - anno::ui_order(12) - ]], - color transmission_color = color(1.) - [[ - anno::display_name("Transmission color"), - anno::in_group("Transmission"), - anno::description("Color effect for transmission independent of thickness of the object, similar to stained glass"), - anno::ui_order(8) - ]], - uniform color volume_color = color(1.0) - [[ - anno::display_name("Volume color"), - anno::in_group("Transmission"), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at \"Volume reference distance\"(m)"), - anno::ui_order(9) - ]], - float transmission_roughness = 0.0 - [[ - anno::display_name("Transmission roughness"), - anno::in_group("Transmission"), - anno::hard_range(0.0,1.), - anno::description("higher values lead to objects seen through the material to appear blurry"), - anno::ui_order(11) - ]], - uniform float base_thickness = 0.1 - [[ - anno::display_name("Volume reference distance"), - anno::in_group("Transmission"), - anno::soft_range(0.0,10.0), - anno::description("If the material is not \"Thin walled\", \"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(10) - ]], - uniform float ior = 1.5 - [[ - anno::display_name("IOR"), - anno::in_group("Global"), - anno::soft_range(1.0,4.0), - anno::description("Determines refraction in the volume. It also influences the reflectivity for materials that are not metallic."), - anno::ui_order(14) - ]], - uniform bool thin_walled = false - [[ - anno::display_name("Thin walled"), - anno::in_group("Global"), - anno::description("Thin walled materials do not refract and do not have volume effects. Good for soap bubbles or window glass."), - anno::ui_order(13) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::in_group("Global"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(16) - ]], - uniform float abbe_number = 0.0 - [[ - anno::in_group("Global"), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off, Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(15) - ]] -) -[[ - anno::display_name("Flexible material model, deprecated"), - anno::description("A complex material that can be configured to a wide variety of looks"), - anno::thumbnail(".thumbs/flex_material.png"), - anno::hidden(), - //anno::deprecated("Use flex_material_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(complex_material), - anno::key_words(string[]("generic","complex")) -]] - = let{ - base::anisotropy_return anisotropy_values = base::anisotropy_conversion( - roughness: reflection_roughness, - anisotropy: anisotropy, - anisotropy_rotation: anisotropy_rotation - ); - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: is_metal? base_color: color(1.), - roughness_u: anisotropy_values.roughness_u, - roughness_v: anisotropy_values.roughness_v, - tangent_u: anisotropy_values.tangent_u - ); - bsdf diffuse_bsdf = df::diffuse_reflection_bsdf( - tint: base_color, - roughness: diffuse_roughness - ); - bsdf transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: transmission_roughness - ); - bsdf add_transparency = df::weighted_layer( - weight: transparency, - layer: transmission_bsdf, - base: diffuse_bsdf, - normal: normal - ); - bsdf add_reflection = is_metal? df::weighted_layer( - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ): df::fresnel_layer( - ior: ior, - weight: reflectivity, - layer: glossy_bsdf, - base: add_transparency, - normal: normal - ); - bsdf add_normal = df::weighted_layer( - normal: normal, - weight: 1., - layer: add_reflection - ); -} in material( - thin_walled: thin_walled, - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number), - surface: material_surface( - scattering: add_normal - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ) -); - -export material thin_glass( - color glass_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin glass, deprecated"), - anno::description("A basic transmissive dielectric without refraction or volume"), - anno::thumbnail(".thumbs/thin_glass.png"), - anno::hidden(), - //anno::deprecated("Use thin_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_transmission_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: glass_color, - roughness_u: roughness - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - layer: glossy_transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) -); - -export material thin_translucent( - color surface_color = color(.95) - [[ - anno::display_name("Diffuse color"), - anno::description("The color of the material") - ]], - color translucent_color = color(.95) - [[ - anno::display_name("Translucence color"), - anno::description("The color of the volume of the material") - ]], - float translucency = 0.5 - [[ - anno::display_name("Translucence weight"), - anno::hard_range(0.0,1.), - anno::description("Fraction of the incoming light that should be visible on the backside") - ]], - float roughness = 0.0 - [[ - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity") - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]] -) -[[ - anno::display_name("Thin translucent, deprecated"), - anno::description("A diffuse transmissive dielectric material"), - anno::thumbnail(".thumbs/thin_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thin_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","leaves","paper","sheets")) -]] - = let{ - bsdf glossy_reflection_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::diffuse_transmission_bsdf( - tint: translucent_color - ); - bsdf base_bsdf = df::diffuse_reflection_bsdf( - tint: surface_color - ); -} in material( - thin_walled: true, - surface: material_surface( - df::fresnel_layer( - ior: ior, - normal: normal, - layer: glossy_reflection_bsdf, - base: df::weighted_layer( - weight: translucency, - normal: normal, - base: base_bsdf, - layer: df::weighted_layer( - layer: transmission_bsdf, - normal: normal, - weight: 1. - ) - ) - ) - ) -); - -export material thick_glass( - color transmission_color = color(1.0) - [[ - anno::ui_order(1), - anno::display_name("Transmission color"), - anno::description("Colors the light entering the volume, similar to stained glass") - ]], - uniform color glass_color = color(.95) - [[ - anno::ui_order(2), - anno::display_name("Volume color"), - anno::description("The color of the glass body") - ]], - float roughness = 0.0 - [[ - anno::ui_order(4), - anno::display_name("Roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections") - ]], - uniform float ior = 1.4 - [[ - anno::ui_order(5), - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction") - ]], - uniform float base_thickness = .1 - [[ - anno::ui_order(3), - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here.") - - ]], - float3 normal = state::normal() - [[ - anno::ui_order(7), - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here") - ]], - uniform float abbe_number = 0.0 - [[ - anno::ui_order(6), - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0 switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0) - ]] -) -[[ - anno::display_name("Thick glass, deprecated"), - anno::description("A basic transmissive dielectric with refraction and coloring in the volume"), - anno::thumbnail(".thumbs/thick_glass.png"), - anno::hidden(), - //anno::deprecated("Use thick_glass_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","glass")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf glossy_bsdf_transmission = df::simple_glossy_bsdf( - mode: df::scatter_transmit, - tint: transmission_color, - roughness_u: roughness - ); -} in material( - thin_walled: false, - surface: material_surface( - df::weighted_layer( - normal: normal, - weight: 1., - layer: df::fresnel_layer( - layer: glossy_bsdf, - base: glossy_bsdf_transmission, - ior: ior, - normal: normal - ) - ) - ), - volume: material_volume( - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(glass_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material thick_translucent( - color transmission_color = color(.95) - [[ - anno::display_name("Transmission color"), - anno::description("The color of the material"), - anno::ui_order(1) - ]], - uniform color volume_color = color(.95) - [[ - anno::display_name("Volume color"), - anno::description("The color of the volume at \"Volume reference distance\""), - anno::ui_order(2) - ]], - uniform float volume_scattering = 0.5 - [[ - anno::display_name("Volume scattering"), - anno::hard_range(0.0,.99999), - anno::description("Amount of scattering for objects at \"Volume reference distance\""), - anno::ui_order(3) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.), - anno::description("Higher roughness values lead to bigger highlights and blurry reflections"), - anno::ui_order(5) - ]], - float reflectivity = 1. - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.), - anno::description("Overall reflectivity of the material"), - anno::ui_order(6) - ]], - uniform float base_thickness = .1 - [[ - anno::display_name("Volume reference distance"), - anno::soft_range(0.0,10.0), - anno::description("\"Volume color\" and \"Volume scattering\" will be reached at this distance (m). Enter a typical thickness of objects made of this material here."), - anno::ui_order(4) - - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(9) - ]], - uniform float ior = 1.4 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity as well as amount of refraction"), - anno::ui_order(7) - ]], - uniform float abbe_number = 0.0 - [[ - anno::display_name("Abbe number"), - anno::description("Controls dispersion. A value of 0switches dispersion off. Dispersive materials have Abbe numbers between 25 and 85."), - anno::soft_range(0.0,100.0), - anno::ui_order(8) - ]] -) -[[ - anno::display_name("Thick translucent, deprecated"), - anno::description("A subsurface scattering material"), - anno::thumbnail(".thumbs/thick_translucent.png"), - anno::hidden(), - //anno::deprecated("Use thick_translucent_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(simple_material), - anno::key_words(string[]("generic","dielectric","wax","milk")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - tint: color(1.), - roughness_u: roughness - ); - bsdf transmission_bsdf = df::specular_bsdf( - mode: df::scatter_transmit, - tint: transmission_color - ); - -} in material( - thin_walled: false, - surface: material_surface( - df::fresnel_layer( - normal: normal, - weight: reflectivity, - ior: ior, - layer: glossy_bsdf, - base: df::weighted_layer( - normal: normal, - weight: 1., - layer: transmission_bsdf - ) - ) - ), - volume: material_volume( - scattering_coefficient: (base_thickness <= 0)? color(0): math::log(color(1.-volume_scattering)) / - base_thickness, - absorption_coefficient: (base_thickness <= 0)? color(0): math::log(volume_color) / -base_thickness - ), - ior: abbe_number == 0.0?color(ior):base::abbe_number_ior(ior, abbe_number) -); - -export material apply_clearcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a clear coating applied"), - anno::ui_order(1) - ]], - uniform float ior = 1.6 - [[ - anno::display_name("IOR"), - anno::soft_range(1.0,4.0), - anno::description("Determines reflectivity of the clear coat"), - anno::ui_order(5) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the clear coat"), - anno::ui_order(3) - ]], - float visibility = 1.0 - [[ - anno::display_name("Coat visibility"), - anno::hard_range(0.0,1.0), - anno::description("Determines visibility of the clear coat"), - anno::ui_order(4) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(6) - ]], - color coat_filter_color = color(1.) - [[ - anno::display_name("Coat filter color"), - anno::description("For simulating coatings with colored resins that modulate the color of underlying layers"), - anno::ui_order(2) - ]] -) -[[ - anno::display_name("Apply clear coating, deprecated"), - anno::description("Apply clear coat to an existing material"), - anno::author("NVIDIA Corporation"), - anno::thumbnail(".thumbs/apply_clearcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_clearcoat_v2 instead"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: color(1.) - ); - color base_tint = blend_colors(color(1.), coat_filter_color, color_layer_blend, visibility).tint; -} in material( - surface: material_surface( - scattering: df::fresnel_layer( - ior: ior, - normal: normal, - weight: visibility, - layer: glossy_bsdf, - base: df::tint(tint: base_tint, base: base.surface.scattering) - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -export material apply_metalcoat( - material base = diffuse(diffuse_color: color(0.)) - [[ - anno::display_name("Base material"), - anno::description("The material that will get a metallic coating applied"), - anno::ui_order(1) - ]], - color metal_color = color(.95) - [[ - anno::display_name("Reflection color"), - anno::description("The color of the metal"), - anno::ui_order(2) - ]], - float visibility = .3 - [[ - anno::display_name("Reflection weight"), - anno::hard_range(0.0,1.0), - anno::description("The opacity of the coat"), - anno::ui_order(4) - ]], - float roughness = 0.0 - [[ - anno::display_name("Reflection roughness"), - anno::hard_range(0.0,1.0), - anno::description("Determines roughness of the metal coat"), - anno::ui_order(3) - ]], - float3 normal = state::normal() - [[ - anno::display_name("Bumps"), - anno::description("Attach bump or normal maps here"), - anno::ui_order(5) - ]] -) -[[ - anno::display_name("Apply thin metal coating, deprecated"), - anno::description("Apply metal coat to an existing material"), - anno::thumbnail(".thumbs/apply_metalcoat.png"), - anno::hidden(), - //anno::deprecated("Use apply_metalcoat_v2 instead"), - anno::author("NVIDIA Corporation"), - anno::copyright_notice(COPYRIGHT), - type_of_material(modifier_material), - anno::key_words(string[]("modifier","generic","coating")) -]] - = let{ - bsdf glossy_bsdf = df::simple_glossy_bsdf( - mode: df::scatter_reflect, - roughness_u: roughness, - tint: metal_color - ); -} in material( - surface: material_surface( - scattering: df::weighted_layer( - weight: visibility, - normal: normal, - layer: glossy_bsdf, - base: base.surface.scattering - ), - emission: base.surface.emission - ), - volume: base.volume, - ior: base.ior, - thin_walled: base.thin_walled, - geometry: base.geometry -); - -//endgroup - -/*-**/ diff --git a/yahboom_dofbot/materials/mdl/license.txt b/yahboom_dofbot/materials/mdl/license.txt deleted file mode 100644 index b7a571d2b4f4cfc3d48ff2ca421fc8c950cc1fce..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/license.txt +++ /dev/null @@ -1,73 +0,0 @@ -# NVIDIA Omniverse Core Materials Licenses - -## Primary License -This project is primarily licensed under the BSD-3-Clause License. - -``` -Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -``` - -## Third-Party Licenses - -### Apache License 2.0 -The following components are licensed under the Apache License 2.0: - -#### MaterialX Components -Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project: -https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE - -``` -Copyright Contributors to the MaterialX Project - -Licensed under the Apache License, Version 2.0 (the "License"); -you may not use this file except in compliance with the License. -You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. -``` - -## SPDX License Identifiers -Files in this project use the following SPDX license identifiers: -- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code -- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components - -## License Attribution -This project contains code from multiple sources: -1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase -2. Academy Software Foundation (Apache-2.0) - MaterialX components - -## License Scope -- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise -- Files in `/source/mdl/materialx` are licensed under Apache-2.0 -- All other files are licensed under BSD-3-Clause \ No newline at end of file diff --git a/yahboom_dofbot/materials/mdl/support_definitions.mdl b/yahboom_dofbot/materials/mdl/support_definitions.mdl deleted file mode 100644 index 8fc835d19c6caa5cad15c8f472ad074645017c9f..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/materials/mdl/support_definitions.mdl +++ /dev/null @@ -1,4292 +0,0 @@ -/* - * SPDX-FileCopyrightText: Copyright (c) 2021-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. - * SPDX-License-Identifier: BSD-3-Clause - */ - -mdl 1.8; - -import ::anno::*; -import ::math::*; - -using .::aux_definitions import xy; -import ::state::*; -import ::scene::*; - -export using ::state import coordinate_space; //enum type -import ::tex::*; -export using ::tex import gamma_mode; //enum type -export using ::tex import wrap_mode; //enum type - -module [[ - anno::version( 1, 2, 0), - anno::display_name("NVIDIA support definitions") -]]; - -export annotation icon(string path); - - -export float data_lookup_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float(name, default_value); -} - -export float2 data_lookup_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float2(name, default_value); -} - -export float3 data_lookup_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float3(name, default_value); -} - -export float4 data_lookup_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_float4(name, default_value); -} - -export int data_lookup_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int(name, default_value); -} - -export int2 data_lookup_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int2(name, default_value); -} - -export int3 data_lookup_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int3(name, default_value); -} - -export int4 data_lookup_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_int4(name, default_value); -} - -export color data_lookup_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Varying"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_color(name, default_value); -} - -export uniform float data_lookup_uniform_float( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float default_value = float() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float(name, default_value); -} - -export uniform float2 data_lookup_uniform_float2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float2 default_value = float2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float2(name, default_value); -} - -export uniform float3 data_lookup_uniform_float3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float3 default_value = float3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform float3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float3(name, default_value); -} - -export uniform float4 data_lookup_uniform_float4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform float4 default_value = float4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup unfirom float4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_float4(name, default_value); -} - -export uniform int data_lookup_uniform_int( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int default_value = int() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int(name, default_value); -} - -export uniform int2 data_lookup_uniform_int2( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int2 default_value = int2() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int2"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int2(name, default_value); -} - -export uniform int3 data_lookup_uniform_int3( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int3 default_value = int3() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int3"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int3(name, default_value); -} - -export uniform int4 data_lookup_uniform_int4( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform int4 default_value = int4() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform int4"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_int4(name, default_value); -} - -export uniform color data_lookup_uniform_color( - uniform string name [[ - anno::description("Scene data attribute name to look up on the target mesh.") - ]], - uniform color default_value = color() [[ - anno::description("Fallback value returned when the named scene data is not present on the target mesh.") - ]] -) [[ - anno::display_name("Data lookup uniform color"), - anno::description("Looks up mesh scene data by name and returns it when present; otherwise returns the provided default value."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Data Lookup", "Uniform"), - icon(".icons/data_lookup.svg") -]] -{ - return scene::data_lookup_uniform_color(name, default_value); -} - - - -// operator nodes -// Add -export int add(int a=0, int b=0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(300) -]] -{ return a+b; } - -export float add(float a=0.0, float b=0.0) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(301) -]] -{ return a+b; } - -export float2 add(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(302) -]] -{ return a+b; } - -export float3 add(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(303) -]] -{ return a+b; } - -export float4 add(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(304) -]] -{ return a+b; } - -export color add(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Add"), - anno::description("Adds the two inputs and returns the result. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Add"), - icon(".icons/Add.svg"), - anno::ui_order(305) -]] -{ return a+b; } - -export int subtract(int a=0, int b=0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(310) -]] -{ return a-b; } - -export float subtract(float a=0.0, float b=0.0) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(311) -]] -{ return a-b; } - -export float2 subtract(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(312) -]] -{ return a-b; } - -export float3 subtract(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(313) -]] -{ return a-b; } - -export float4 subtract(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(314) -]] -{ return a-b; } - -export color subtract(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Subtract"), - anno::description("Subtracts the second input from the first. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Subtract"), - icon(".icons/Subtract.svg"), - anno::ui_order(315) -]] -{ return a-b; } - -export int multiply(int a=0, int b=0) -[[ - anno::display_name("Multiply"), - anno::description("Subtracts the second input from the first."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(320) -]] -{ return a*b; } - -export float multiply(float a=0.0, float b=0.0) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(321) -]] -{ return a*b; } - -export float2 multiply(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(322) -]] -{ return a*b; } - -export float3 multiply(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(323) -]] -{ return a*b; } - -export float4 multiply(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(324) -]] -{ return a*b; } - -export color multiply(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Multiply"), - anno::description("Multiplies the two inputs and returns the product. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Multiply"), - icon(".icons/Multiply.svg"), - anno::ui_order(325) -]] -{ return a*b; } - -export int divide(int a=0, int b=0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(326) -]] -{ return a/b; } - -export float divide(float a=0.0, float b=0.0) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(327) -]] -{ return a/b; } - -export float2 divide(float2 a=float2(0.0), float2 b=float2(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(328) -]] -{ return a/b; } - -export float3 divide(float3 a=float3(0.0), float3 b=float3(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(329) -]] -{ return a/b; } - -export float4 divide(float4 a=float4(0.0), float4 b=float4(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(330) -]] -{ return a/b; } - -export color divide(color a=color(0.0), color b=color(0.0)) -[[ - anno::display_name("Divide"), - anno::description("Divides the first input by the second. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Divide"), - icon(".icons/Divide.svg"), - anno::ui_order(331) -]] -{ return a/b; } - -export int condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - int a=0 [[ - anno::description("Value returned when the condition is true.") - ]], - int b=0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(332) -]] -{ return x?a:b; } - -export float condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float a=0.0 [[ - anno::description("Value returned when the condition is true.") - ]], - float b=0.0 [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(333) -]] -{ return x?a:b; } - -export float2 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float2 a=float2(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float2 b=float2(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(334) -]] -{ return x?a:b; } - -export float3 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float3 a=float3(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float3 b=float3(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(335) -]] -{ return x?a:b; } - -export float4 condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - float4 a=float4(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - float4 b=float4(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(336) -]] -{ return x?a:b; } - -export color condition( - uniform bool x=true [[ - anno::description("Condition that selects which input to return.") - ]], - color a=color(0.0) [[ - anno::description("Value returned when the condition is true.") - ]], - color b=color(0.0) [[ - anno::description("Value returned when the condition is false.") - ]] -) -[[ - anno::display_name("Condition?"), - anno::description("Returns input a when the condition is true; otherwise returns input b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Condition"), - icon(".icons/condition.svg"), - anno::ui_order(337) -]] -{ return x?a:b; } - -export bool compare(float a, float b) -[[ - anno::display_name("Compare"), - anno::description("Returns true when a is greater than b; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Comparison"), - icon(".icons/compare.svg"), - anno::ui_order(338) -]] -{ return a>b; } - -export bool equality(bool a, bool b) -[[ - anno::display_name("Check equality bool"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(339) -]] -{ return a==b; } - -export bool equality(int a, int b) -[[ - anno::display_name("Check equality int"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(340) -]] -{ return a==b; } - -export bool equality(int2 a, int2 b) -[[ - anno::display_name("Check equality int2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(341) -]] -{ return a==b; } - -export bool equality(int3 a, int3 b) -[[ - anno::display_name("Check equality int3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(342) -]] -{ return a==b; } - -export bool equality(float a, float b) -[[ - anno::display_name("Check equality float"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(343) -]] -{ return a==b; } - -export bool equality(float2 a, float2 b) -[[ - anno::display_name("Check equality float2"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(344) -]] -{ return a==b; } - -export bool equality(float3 a, float3 b) -[[ - anno::display_name("Check equality float3"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(345) -]] -{ return a==b; } - -export bool equality(color a, color b) -[[ - anno::display_name("Check equality color"), - anno::description("Returns true when both inputs are equal; otherwise returns false."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Operators", "Equality"), - icon(".icons/Equality.svg"), - anno::ui_order(346) -]] -{ return a==b; } - -//constants nodes. -export bool bool_const(uniform bool b = true) -[[ - anno::display_name("Constant bool"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1000) -]] -{ return b; } - -export int int_const(uniform int i = 0) -[[ - anno::display_name("Constant int"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1001) -]] -{ return i; } - -export float float_const(uniform float f = 0.) -[[ - anno::display_name("Constant float"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1002) -]] -{ return f; } - -export float2 float2_const(uniform float2 f2 = float2(0.)) -[[ - anno::display_name("Constant float2"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1003) -]] -{ return f2; } - -export float3 float3_const(uniform float3 f3 = float3(0.)) -[[ - anno::display_name("Constant float3"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1004) -]] -{ return f3; } - -export float4 float4_const(uniform float4 f4 = float4(0.)) -[[ - anno::display_name("Constant float4"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1005) -]] -{ return f4; } - -export color color_const(uniform color c = color(0.)) -[[ - anno::display_name("Constant color"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1006) -]] -{ return c; } - -export uniform texture_2d texture_2d_const(uniform texture_2d tex = texture_2d())[[ - anno::display_name("Constant texture_2d"), - anno::description("Pass-through constant node that returns the provided value unchanged."), - anno::author("NVIDIA Corporation"), - anno::in_group("Constants"), - icon(".icons/constructor.svg"), - anno::ui_order(1007) -]] -{ return tex; } - -//exports from tex: -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose width is queried.") - ]]) uniform -[[ - anno::display_name("Width of texture"), - anno::description("Returns the width of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(141) -]] -{ return tex::width(tex); } - -export int texture_width( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile width is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Width of a texture tile"), - anno::description("Returns the width of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Width"), - icon(".icons/texture_width.svg"), - anno::ui_order(143) -]] -{ return tex::width(tex, uv_tile); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose height is queried.") - ]]) uniform -[[ - anno::display_name("Height of texture"), - anno::description("Returns the height of the input texture in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(142) -]] -{ return tex::height(tex); } - -export int height( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource whose tile height is queried.") - ]], - int2 uv_tile = int2(0, 0) [[ - anno::description("UDIM tile index as (u, v).") - ]]) uniform -[[ - anno::display_name("Height of a texture tile"), - anno::description("Returns the height of the specified texture tile in pixels."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info", "Height"), - icon(".icons/texture_height.svg"), - anno::ui_order(144) -]] -{ return tex::height(tex,uv_tile); } - -export float2 transform_st( - float rotation = 0.0 [[ - anno::description("Rotation angle in radians.") - ]], - float2 translation = float2(0.0) [[ - anno::description("Translation offset applied after rotation and scaling.") - ]], - float2 scale = float2(1.0) [[ - anno::description("Scale factor applied per coordinate axis.") - ]], - float2 st = float2(0.0) [[ - anno::description("Input 2D coordinate to transform.") - ]] -) -[[ - anno::display_name("Transform 2D"), - anno::description("Applies rotation, scaling, and translation to a 2D coordinate."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform"), - icon(".icons/transform.svg"), - anno::ui_order(1019) -]] -{ - float s = math::sin(rotation); - float c = math::cos(rotation); - float2 st_t=st; - st_t = float2(s*st_t.x+c*st_t.y,s*st_t.y-c*st_t.x); - return st_t*scale+ translation; -} - -export color biased_color_blend( - float w1 = 0.0 [[ - anno::description("Weight for the first input color.") - ]], - color c1 = color(0.0) [[ - anno::description("First input color.") - ]], - float w2 = 0.0 [[ - anno::description("Weight for the second input color.") - ]], - color c2 = color(0.0) [[ - anno::description("Second input color.") - ]], - float w3 = 0.0 [[ - anno::description("Weight for the third input color.") - ]], - color c3 = color(0.0) [[ - anno::description("Third input color.") - ]], - color mean = color(0.5) [[ - anno::description("Expected average color used to preserve contrast in the biased blend.") - ]] -) -[[ - anno::display_name("Biased color blend"), - anno::description("Blends up to three colors using weights; set mean to the expected average to preserve contrast when mixing textures."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Blend"), - icon(".icons/biased_color_blend.svg"), - anno::ui_order(539) -]] -{ - color o=w1*c1+w2*c2+w3*c3; - float s=w1+w2+w3; - float s2=w1*w1+w2*w2+w3*w3; -return mean + (o-s*mean)/ math::sqrt(s2); -} - - -export float lookup_float( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(100) -]] -{ return tex::lookup_float( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - -export float3 lookup_float3( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float3"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(110) -]] -{ return tex::lookup_float3( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export float4 lookup_float4( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup float4"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(120) -]] { return tex::lookup_float4( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -export color lookup_color( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to sample.") - ]], - float2 coord = float2(0.) [[ - anno::description("Texture coordinate used for sampling.") - ]], - uniform wrap_mode wrap_u = wrap_repeat [[ - anno::description("Wrap mode applied along the U axis.") - ]], - uniform wrap_mode wrap_v = wrap_repeat [[ - anno::description("Wrap mode applied along the V axis.") - ]], - uniform float2 crop_u = float2(0.0, 1.0) [[ - anno::description("Crop interval along the U axis, expressed as [min, max].") - ]], - uniform float2 crop_v = float2(0.0, 1.0) [[ - anno::description("Crop interval along the V axis, expressed as [min, max].") - ]], - float frame = 0.0 [[ - anno::description("Frame value used for animated textures.") - ]]) uniform -[[ - anno::display_name("Texture lookup color"), - anno::description("Samples a value from a 2D texture using the provided coordinate, wrap, crop, and frame settings."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Lookup"), - icon(".icons/texture_lookup.svg"), - anno::ui_order(130) -]] { return tex::lookup_color( tex, coord, wrap_u, wrap_v, crop_u, crop_v, frame); } - - -// check for valid resource -export bool texture_isvalid( - uniform texture_2d tex = texture_2d() [[ - anno::description("Texture resource to validate.") - ]]) uniform -[[ - anno::display_name("Is texture valid?"), - anno::description("Returns true when the provided texture handle is valid and can be sampled."), - anno::author("NVIDIA Corporation"), - anno::in_group("Texturing", "Info"), - icon(".icons/texture_isvalid.svg"), - anno::ui_order(140) -]] -{ return tex::texture_isvalid(tex); } - - -//exports from state: -export float3 position() -[[ - anno::display_name("Hit position"), - anno::description("Returns the current shading position in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/position.svg"), - anno::ui_order(1012) -]] -{ return state::position(); } - -export float3 normal() -[[ - anno::display_name("Shade normal"), - anno::description("Returns the current shading normal in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/normal.svg"), - anno::ui_order(1013) -]] -{ return state::normal(); } - -//new: quick access to xy: -export float2 texture_coordinate_2d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 2D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1010) -]] -{ return xy(state::texture_coordinate(i)); } - -export float3 texture_coordinate_3d( - uniform int i = 0 [[ - anno::description("Texture coordinate set index.") - ]]) -[[ - anno::display_name("Texture coordinate 3D"), - anno::description("Returns authored texture coordinates from the selected texture coordinate set."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Coordinate"), - icon(".icons/texture_coordinate.svg"), - anno::ui_order(1011) -]] -{ return state::texture_coordinate(i); } - -export float3 texture_tangent_u( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the U tangent.") - ]]) -[[ - anno::display_name("Shade tangent"), - anno::description("Returns the current shading tangent (U direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1014) -]] -{ return state::texture_tangent_u(i); } - -export float3 texture_tangent_v( - uniform int i = 0 [[ - anno::description("Texture coordinate set index used to derive the V tangent.") - ]]) -[[ - anno::display_name("Shade bi-tangent"), - anno::description("Returns the current shading bitangent (V direction) in the renderer's internal coordinate space."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars", "Texture", "Tangent"), - icon(".icons/texture_tangent.svg"), - anno::ui_order(1015) -]] -{ return state::texture_tangent_v(i); } - -export float animation_time() -[[ - anno::display_name("Animation time"), - anno::description("Returns elapsed animation time in seconds from the start of the timeline."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene"), - icon(".icons/animation_time.svg"), - anno::ui_order(1030) -]] -{ return state::animation_time(); } - - -export float3 transform_point( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input point.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed point.") - ]], - float3 point=float3(0.) [[ - anno::description("Point to transform.") - ]]) -[[ - anno::display_name("Transform point"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1020) -]] -{ return state::transform_point(from, to, point); } - -export float3 transform_vector( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input vector.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed vector.") - ]], - float3 vector=float3(0.) [[ - anno::description("Vector to transform.") - ]]) -[[ - anno::display_name("Transform vector"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1021) -]] -{ return state::transform_vector(from, to, vector); } - -export float3 transform_normal( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input normal.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed normal.") - ]], - float3 normal=float3(0.,1.,0.) [[ - anno::description("Normal vector to transform.") - ]]) -[[ - anno::display_name("Transform normal"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1022) -]] -{ return state::transform_normal(from, to, normal); } - -export float transform_scale( - uniform coordinate_space from=coordinate_internal [[ - anno::description("Source coordinate space of the input scale value.") - ]], - uniform coordinate_space to=coordinate_object [[ - anno::description("Destination coordinate space for the transformed scale value.") - ]], - float scale=0. [[ - anno::description("Scale value to transform.") - ]]) -[[ - anno::display_name("Transform scale"), - anno::description("Transforms the input value between internal, object, and world coordinate spaces."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Coordinate"), - icon(".icons/transform.svg"), - anno::ui_order(1023) -]] -{ return state::transform_scale(from, to, scale); } - -float2 r2d(float2 x, float theta) -{ - theta *= math::acos(-1.0) * 2.0; - return float2( - math::cos(theta) * x[0] + math::sin(theta) * x[1], - math::cos(theta) * x[1] - math::sin(theta) * x[0]); -} - -export float3 rotate_around_x( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around X"), - anno::description("Rotates a 3D point around the X axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1024) -]] -{ - float2 v = r2d(float2(p.y, p.z), theta); - return float3(p.x, v[0], v[1]); -} - -export float3 rotate_around_y( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Y"), - anno::description("Rotates a 3D point around the Y axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1025) -]] -{ - float2 v = r2d(float2(p.x, p.z), theta); - return float3(v[0], p.y, v[1]); -} - -export float3 rotate_around_z( - float3 p [[ - anno::description("Point to rotate.") - ]], - float theta [[ - anno::description("Rotation amount in turns, where 1.0 is a full 360-degree rotation.") - ]]) -[[ - anno::display_name("Rotate Around Z"), - anno::description("Rotates a 3D point around the Z axis by the input angle."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Transform", "Rotation"), - icon(".icons/rotation.svg"), - anno::ui_order(1026) -]] -{ - float2 v = r2d(float2(p.x, p.y), theta); - return float3(v[0], v[1], p.z); -} - -export float meters_per_scene_unit() -[[ - anno::display_name("Meters per scene unit"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/meters_per_scene_unit.svg"), - anno::ui_order(1031) -]] -{ return state::meters_per_scene_unit(); } - -export float scene_units_per_meter() -[[ - anno::display_name("Scene units per meter"), - anno::description("Returns the conversion factor between scene units and meters."), - anno::author("NVIDIA Corporation"), - anno::in_group("Scene", "Units"), - icon(".icons/scene_units_per_meter.svg"), - anno::ui_order(1032) -]] -{ return state::scene_units_per_meter(); } - -export int object_id() -[[ - anno::display_name("Object Id"), - anno::description("Returns the unique integer identifier of the currently shaded object."), - anno::author("NVIDIA Corporation"), - anno::in_group("State and Primvars"), - icon(".icons/object_id.svg"), - anno::ui_order(1033) -]] -{ return state::object_id(); } - -//exported from math: -export color blackbody( - float temperature=6500. [[ - anno::description("Blackbody temperature in Kelvin used to compute the emitted color.") - ]]) -[[ - anno::display_name("Blackbody color"), - anno::description("Returns the RGB color of an ideal blackbody radiator at the specified temperature in Kelvin."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/blackbody.svg"), - anno::ui_order(409) -]] -{ return math::blackbody(temperature); } - -export float PI() -[[ - anno::display_name("Pi"), - anno::description("Returns the mathematical constant pi (approximately 3.141592653589793)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Constants"), - icon(".icons/PI.svg"), - anno::ui_order(1007) -]] -{ return math::PI; } - -export int abs(int a=0) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(350) -]] -{ return math::abs(a); } - -export float abs(float a=0.) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(351) -]] -{ return math::abs(a); } - -export float2 abs(float2 a=float2(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(352) -]] -{ return math::abs(a); } - -export float3 abs(float3 a=float3(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(353) -]] -{ return math::abs(a); } - -export float4 abs(float4 a=float4(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(354) -]] -{ return math::abs(a); } - -export color abs(color a=color(0.)) -[[ - anno::display_name("Abs"), - anno::description("Returns the absolute value of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Abs"), - icon(".icons/Abs.svg"), - anno::ui_order(355) -]] -{ return math::abs(a); } - -export float acos(float a=0.) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(360) -]] -{ return math::acos(a); } - -export float2 acos(float2 a=float2(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(361) -]] -{ return math::acos(a); } - -export float3 acos(float3 a=float3(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(362) -]] -{ return math::acos(a); } - -export float4 acos(float4 a=float4(0.)) -[[ - anno::display_name("Acos"), - anno::description("Returns the inverse cosine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Acos"), - icon(".icons/Acos.svg"), - anno::ui_order(363) -]] -{ return math::acos(a); } - - -export float asin(float a=0.) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(370) -]] -{ return math::asin(a); } - -export float2 asin(float2 a=float2(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(371) -]] -{ return math::asin(a); } - -export float3 asin(float3 a=float3(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(372) -]] -{ return math::asin(a); } - -export float4 asin(float4 a=float4(0.)) -[[ - anno::display_name("Asin"), - anno::description("Returns the inverse sine in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Asin"), - icon(".icons/Asin.svg"), - anno::ui_order(373) -]] -{ return math::asin(a); } - -export float atan(float a=0.) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(380) -]] -{ return math::atan(a); } - -export float2 atan(float2 a=float2(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(381) -]] -{ return math::atan(a); } - -export float3 atan(float3 a=float3(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(382) -]] -{ return math::atan(a); } - -export float4 atan(float4 a=float4(0.)) -[[ - anno::display_name("Atan"), - anno::description("Returns the inverse tangent in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan"), - icon(".icons/Atan.svg"), - anno::ui_order(383) -]] -{ return math::atan(a); } - -export float atan2( - float y=0. [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float x=0. [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(390) -]] -{ return math::atan2(y,x); } - -export float2 atan2( - float2 y=float2(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float2 x=float2(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(391) -]] -{ return math::atan2(y,x); } - -export float3 atan2( - float3 y=float3(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float3 x=float3(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(392) -]] -{ return math::atan2(y,x); } - -export float4 atan2( - float4 y=float4(0.) [[anno::description("Y component (numerator) used by atan2(y, x).")]], - float4 x=float4(0.) [[anno::description("X component (denominator) used by atan2(y, x).")]] -) -[[ - anno::display_name("Atan2"), - anno::description("Returns atan2(y, x) in radians, using both signs to determine the correct quadrant. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Atan2"), - icon(".icons/Atan2.svg"), - anno::ui_order(393) -]] -{ return math::atan2(y,x); } - -export float average(float2 a=float2(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(400) -]] -{ return math::average(a); } - -export float average(float3 a=float3(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(401) -]] -{ return math::average(a); } - -export float average(float4 a=float4(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(402) -]] -{ return math::average(a); } - -export float average(color a=color(0.)) -[[ - anno::display_name("Average"), - anno::description("Returns the arithmetic mean of all components in the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Average"), - icon(".icons/Average.svg"), - anno::ui_order(403) -]] -{ return math::average(a); } - -export float ceil(float a=0.) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(410) -]] -{ return math::ceil(a); } - -export float2 ceil(float2 a=float2(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float3 ceil(float3 a=float3(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(411) -]] -{ return math::ceil(a); } - -export float4 ceil(float4 a=float4(0.)) -[[ - anno::display_name("Ceil"), - anno::description("Rounds each input value up to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Ceil"), - icon(".icons/Ceil.svg"), - anno::ui_order(412) -]] -{ return math::ceil(a); } - -export int clamp( - int a=0 [[anno::description("Input value to clamp.")]], - int min=0 [[anno::description("Lower bound of the output range.")]], - int max=1 [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(420) -]] -{ return math::clamp(a,min,max); } - -export float clamp( - float a=0. [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(421) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(422) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(423) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(424) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(425) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float2 min=float2(0.) [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(426) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float2 max=float2(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(427) -]] -{ return math::clamp(a,min,max); } - -export float2 clamp( - float2 a=float2(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=1. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(428) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float3 min=float3(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(429) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float3 max=float3(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(430) -]] -{ return math::clamp(a,min,max); } - -export float3 clamp( - float3 a=float3(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(431) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float4 min=float4(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(432) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float4 max=float4(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(433) -]] -{ return math::clamp(a,min,max); } - -export float4 clamp( - float4 a=float4(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(434) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - color min=color(0.) [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(435) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - color max=color(1.) [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(436) -]] -{ return math::clamp(a,min,max); } - -export color clamp( - color a=color(0.) [[anno::description("Input value to clamp.")]], - float min=0. [[anno::description("Lower bound of the output range.")]], - float max=0. [[anno::description("Upper bound of the output range.")]] -) -[[ - anno::display_name("Clamp"), - anno::description("Clamps the input to the inclusive [min, max] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Clamp"), - icon(".icons/Clamp.svg"), - anno::ui_order(437) -]] -{ return math::clamp(a,min,max); } - -export float cos(float a=0.) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(440) -]] -{ return math::cos(a); } - -export float2 cos(float2 a=float2(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(441) -]] -{ return math::cos(a); } - -export float3 cos(float3 a=float3(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(442) -]] -{ return math::cos(a); } - -export float4 cos(float4 a=float4(0.)) -[[ - anno::display_name("Cos"), - anno::description("Returns the cosine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Cos"), - icon(".icons/Cos.svg"), - anno::ui_order(443) -]] -{ return math::cos(a); } - -export float3 cross(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Cross"), - anno::description("Returns the 3D cross product of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/cross_product.svg"), - anno::ui_order(449) -]] -{ return math::cross(a,b); } - -export float degrees( - float a=0. [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(450) -]] -{ return math::degrees(a); } - -export float2 degrees( - float2 a=float2(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(451) -]] -{ return math::degrees(a); } - -export float3 degrees( - float3 a=float3(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(452) -]] -{ return math::degrees(a); } - -export float4 degrees( - float4 a=float4(0.) [[anno::description("Input angle in radians.")]] -) -[[ - anno::display_name("Degrees"), - anno::description("Converts an angle from radians to degrees. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Degrees"), - icon(".icons/Degrees.svg"), - anno::ui_order(453) -]] -{ return math::degrees(a); } - -export float distance(float a=0., float b=0.) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(460) -]] -{ return math::distance(a,b); } - -export float distance(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(461) -]] -{ return math::distance(a,b); } - -export float distance(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(462) -]] -{ return math::distance(a,b); } - -export float distance(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Distance"), - anno::description("Returns the Euclidean distance between the two input points."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Distance"), - icon(".icons/Distance.svg"), - anno::ui_order(463) -]] -{ return math::distance(a,b); } - -export float dot(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(470) -]] -{ return math::dot(a,b); } - -export float dot(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(471) -]] -{ return math::dot(a,b); } - -export float dot(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Dot"), - anno::description("Returns the dot product (scalar projection) of the two input vectors."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Dot"), - icon(".icons/Dot.svg"), - anno::ui_order(472) -]] -{ return math::dot(a,b); } - -export float exp(float a=0.) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(480) -]] -{ return math::exp(a); } - -export float2 exp(float2 a=float2(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float3 exp(float3 a=float3(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(481) -]] -{ return math::exp(a); } - -export float4 exp(float4 a=float4(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(482) -]] -{ return math::exp(a); } - -export color exp(color a=color(0.)) -[[ - anno::display_name("Exp"), - anno::description("Returns e raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp"), - icon(".icons/Exp.svg"), - anno::ui_order(483) -]] -{ return math::exp(a); } - -export float exp2(float a=0.) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(490) -]] -{ return math::exp2(a); } - -export float2 exp2(float2 a=float2(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(491) -]] -{ return math::exp2(a); } - -export float3 exp2(float3 a=float3(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(492) -]] -{ return math::exp2(a); } - -export float4 exp2(float4 a=float4(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(493) -]] -{ return math::exp2(a); } - -export color exp2(color a=color(0.)) -[[ - anno::display_name("Exp 2"), - anno::description("Returns 2 raised to the input value. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Exp2"), - icon(".icons/Exp2.svg"), - anno::ui_order(494) -]] -{ return math::exp2(a); } - -export float floor(float a=0.) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(500) -]] -{ return math::floor(a); } - -export float2 floor(float2 a=float2(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(501) -]] -{ return math::floor(a); } - -export float3 floor(float3 a=float3(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(502) -]] -{ return math::floor(a); } - -export float4 floor(float4 a=float4(0.)) -[[ - anno::display_name("Floor"), - anno::description("Rounds each input value down to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Floor"), - icon(".icons/Floor.svg"), - anno::ui_order(503) -]] -{ return math::floor(a); } - -export float fmod( - float a=0. [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(510) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float2 b=float2(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(511) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float3 b=float3(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(512) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float4 b=float4(1.) [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(513) -]] -{ return math::fmod(a,b); } - -export float2 fmod( - float2 a=float2(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(514) -]] -{ return math::fmod(a,b); } - -export float3 fmod( - float3 a=float3(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(515) -]] -{ return math::fmod(a,b); } - -export float4 fmod( - float4 a=float4(0.) [[anno::description("Dividend input.")]], - float b=1. [[anno::description("Divisor input.")]] -) -[[ - anno::display_name("Fmod"), - anno::description("Returns the floating-point remainder of dividing a by b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Fmod"), - icon(".icons/Fmod.svg"), - anno::ui_order(516) -]] -{ return math::fmod(a,b); } - -export float frac(float a=0.) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(520) -]] -{ return math::frac(a); } - -export float2 frac(float2 a=float2(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(521) -]] -{ return math::frac(a); } - -export float3 frac(float3 a=float3(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(522) -]] -{ return math::frac(a); } - -export float4 frac(float4 a=float4(0.)) -[[ - anno::display_name("Frac"), - anno::description("Returns the positive fractional part of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Frac"), - icon(".icons/Frac.svg"), - anno::ui_order(523) -]] -{ return math::frac(a); } - -export float length(float2 a=float2(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(530) -]] -{ return math::length(a); } - -export float length(float3 a=float3(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(531) -]] -{ return math::length(a); } - -export float length(float4 a=float4(0.)) -[[ - anno::display_name("Length"), - anno::description("Returns the Euclidean length (magnitude) of the input vector."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Length"), - icon(".icons/Length.svg"), - anno::ui_order(532) -]] -{ return math::length(a); } - -export float lerp( - float a=0. [[anno::description("Start value at interpolation factor 0.")]], - float b=1. [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(540) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float2 l=float2(0.)[[anno::soft_range(float2(0.0),float2(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(541) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float3 l=float3(0.)[[anno::soft_range(float3(0.0),float3(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(542) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float4 l=float4(0.)[[anno::soft_range(float4(0.0),float4(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(543) -]] -{ return math::lerp(a,b,l); } - -export float2 lerp( - float2 a=float2(0.) [[anno::description("Start value at interpolation factor 0.")]], - float2 b=float2(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(544) -]] -{ return math::lerp(a,b,l); } - -export float3 lerp( - float3 a=float3(0.) [[anno::description("Start value at interpolation factor 0.")]], - float3 b=float3(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(545) -]] -{ return math::lerp(a,b,l); } - -export float4 lerp( - float4 a=float4(0.) [[anno::description("Start value at interpolation factor 0.")]], - float4 b=float4(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(546) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - color l=color(0.)[[anno::soft_range(color(0.0),color(1.)), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(547) -]] -{ return math::lerp(a,b,l); } - -export color lerp( - color a=color(0.) [[anno::description("Start value at interpolation factor 0.")]], - color b=color(1.) [[anno::description("End value at interpolation factor 1.")]], - float l=0.[[anno::soft_range(0.0,1.), anno::description("Interpolation factor between a and b.")]] -) -[[ - anno::display_name("Lerp"), - anno::description("Linearly interpolates between a and b using interpolation factor l."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Lerp"), - icon(".icons/Lerp.svg"), - anno::ui_order(548) -]] -{ return math::lerp(a,b,l); } - -export float log(float a=1.) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(550) -]] -{ return math::log(a); } - -export float2 log(float2 a=float2(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(551) -]] -{ return math::log(a); } - -export float3 log(float3 a=float3(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(552) -]] -{ return math::log(a); } - -export float4 log(float4 a=float4(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(553) -]] -{ return math::log(a); } - -export color log(color a=color(1.)) -[[ - anno::display_name("Log"), - anno::description("Computes the natural logarithm (base e) of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log"), - icon(".icons/Log.svg"), - anno::ui_order(554) -]] -{ return math::log(a); } - -export float log2(float a=1.) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(560) -]] -{ return math::log2(a); } - -export float2 log2(float2 a=float2(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(561) -]] -{ return math::log2(a); } - -export float3 log2(float3 a=float3(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(562) -]] -{ return math::log2(a); } - -export float4 log2(float4 a=float4(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(563) -]] -{ return math::log2(a); } - -export color log2(color a=color(1.)) -[[ - anno::display_name("Log 2"), - anno::description("Computes the base-2 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log2"), - icon(".icons/Log2.svg"), - anno::ui_order(564) -]] -{ return math::log2(a); } - -export float log10(float a=1.) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(570) -]] -{ return math::log10(a); } - -export float2 log10(float2 a=float2(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(571) -]] -{ return math::log10(a); } - -export float3 log10(float3 a=float3(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(572) -]] -{ return math::log10(a); } - -export float4 log10(float4 a=float4(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(573) -]] -{ return math::log10(a); } - -export color log10(color a=color(1.)) -[[ - anno::display_name("Log 10"), - anno::description("Computes the base-10 logarithm of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Log10"), - icon(".icons/Log10.svg"), - anno::ui_order(574) -]] -{ return math::log10(a); } - -export float luminance(float3 a=float3(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(580) -]] -{ return math::luminance(a); } - -export float luminance(color a=color(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(581) -]] -{ return math::luminance(a); } - -export float luminance(float4 a=float4(0.)) -[[ - anno::display_name("Luminance"), - anno::description("Computes luminance (Y) from the input color using standard RGB weighting."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Luminance"), - icon(".icons/Luminance.svg"), - anno::ui_order(582) -]] -{ return math::luminance(float3(a.x,a.y,a.z)); } - -export int max(int a=0, int b=0) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(590) -]] -{ return math::max(a,b); } - -export float max(float a=0., float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(591) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(592) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(593) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(594) -]] -{ return math::max(a,b); } - -export float2 max(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(595) -]] -{ return math::max(a,b); } - -export float3 max(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(596) -]] -{ return math::max(a,b); } - -export float4 max(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(597) -]] -{ return math::max(a,b); } - -export float2 max(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(598) -]] -{ return math::max(a,b); } - -export float3 max(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(599) -]] -{ return math::max(a,b); } - -export float4 max(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(600) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(601) -]] -{ return math::max(a,b); } - -export color max(float a=0., color b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(602) -]] -{ return math::max(a,b); } - -export color max(color a=color(0.), float b=0.) -[[ - anno::display_name("Maximum"), - anno::description("Returns the larger of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(603) -]] -{ return math::max(a,b); } - -export float max_value(float2 a=float2(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(610) -]] -{ return math::max_value(a); } - -export float max_value(float3 a=float3(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(611) -]] -{ return math::max_value(a); } - -export float max_value(float4 a=float4(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(612) -]] -{ return math::max_value(a); } - -export float max_value(color a=color(0.)) -[[ - anno::display_name("Maximum value"), - anno::description("Returns the largest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Max"), - icon(".icons/Max.svg"), - anno::ui_order(613) -]] -{ return math::max_value(a); } - -export int min(int a=0, int b=0) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(620) -]] -{ return math::min(a,b); } - -export float min(float a=0., float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(621) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(622) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(623) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(624) -]] -{ return math::min(a,b); } - -export float2 min(float2 a=float2(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(625) -]] -{ return math::min(a,b); } - -export float3 min(float3 a=float3(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(626) -]] -{ return math::min(a,b); } - -export float4 min(float4 a=float4(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(627) -]] -{ return math::min(a,b); } - -export float2 min(float a=0., float2 b=float2(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(628) -]] -{ return math::min(a,b); } - -export float3 min(float a=0., float3 b=float3(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(629) -]] -{ return math::min(a,b); } - -export float4 min(float a=0., float4 b=float4(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(630) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(631) -]] -{ return math::min(a,b); } - -export color min(float a=0., color b=color(0.)) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(632) -]] -{ return math::min(a,b); } - -export color min(color a=color(0.), float b=0.) -[[ - anno::display_name("Minimum"), - anno::description("Returns the smaller of the two inputs. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(633) -]] -{ return math::min(a,b); } - -export float min_value(float a=0.) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(640) -]] -{ return math::min_value(a); } - -export float min_value(float2 a=float2(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(641) -]] -{ return math::min_value(a); } - -export float min_value(float3 a=float3(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(642) -]] -{ return math::min_value(a); } - -export float min_value(float4 a=float4(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest component value in the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(643) -]] -{ return math::min_value(a); } - -export float min_value(color a=color(0.)) -[[ - anno::display_name("Minimum value"), - anno::description("Returns the smallest channel value in the input color."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Min"), - icon(".icons/Min.svg"), - anno::ui_order(644) -]] -{ return math::min_value(a); } - -export float2 normalize( - float2 a=float2(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(650) -]] -{ return math::normalize(a); } - -export float3 normalize( - float3 a=float3(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(651) -]] -{ return math::normalize(a); } - -export float4 normalize( - float4 a=float4(0.) [[anno::description("Input vector to normalize.")]] -) -[[ - anno::display_name("Normalize"), - anno::description("Normalizes the input vector to unit length (length 1)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Normalize"), - icon(".icons/Normalize.svg"), - anno::ui_order(652) -]] -{ return math::normalize(a); } - -export int pow( - int a=0 [[anno::description("Base value.")]], - int b=0 [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(660) -]] -{ return math::pow(a,b); } - -export float pow( - float a=0. [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(661) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float2 b=float2(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(662) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float3 b=float3(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(663) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float4 b=float4(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(664) -]] -{ return math::pow(a,b); } - -export float2 pow( - float2 a=float2(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(665) -]] -{ return math::pow(a,b); } - -export float3 pow( - float3 a=float3(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(666) -]] -{ return math::pow(a,b); } - -export float4 pow( - float4 a=float4(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(667) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - color b=color(0.) [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(668) -]] -{ return math::pow(a,b); } - -export color pow( - color a=color(0.) [[anno::description("Base value.")]], - float b=0. [[anno::description("Exponent value.")]] -) -[[ - anno::display_name("Pow"), - anno::description("Raises a to the power b. Parameter a must not be negative. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Pow"), - icon(".icons/Pow.svg"), - anno::ui_order(669) -]] -{ return math::pow(a,b); } - -export float radians( - float a=0. [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(670) -]] -{ return math::radians(a); } - -export float2 radians( - float2 a=float2(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(671) -]] -{ return math::radians(a); } - -export float3 radians( - float3 a=float3(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(672) -]] -{ return math::radians(a); } - -export float4 radians( - float4 a=float4(0.) [[anno::description("Input angle in degrees.")]] -) -[[ - anno::display_name("Radians"), - anno::description("Converts an angle from degrees to radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Radians"), - icon(".icons/Radians.svg"), - anno::ui_order(673) -]] -{ return math::radians(a); } - -export float round(float a=0.) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(690) -]] -{ return math::round(a); } - -export float2 round(float2 a=float2(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(691) -]] -{ return math::round(a); } - -export float3 round(float3 a=float3(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(692) -]] -{ return math::round(a); } - -export float4 round(float4 a=float4(0.)) -[[ - anno::display_name("Round"), - anno::description("Rounds to the nearest integer. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Round"), - icon(".icons/Round.svg"), - anno::ui_order(693) -]] -{ return math::round(a); } - -export float rsqrt(float a=0.) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(700) -]] -{ return math::rsqrt(a); } - -export float2 rsqrt(float2 a=float2(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(701) -]] -{ return math::rsqrt(a); } - -export float3 rsqrt(float3 a=float3(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(702) -]] -{ return math::rsqrt(a); } - -export float4 rsqrt(float4 a=float4(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(703) -]] -{ return math::rsqrt(a); } - -export color rsqrt(color a=color(0.)) -[[ - anno::display_name("Rsqrt"), - anno::description("Returns 1/sqrt(a). The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Rsqrt"), - icon(".icons/Rsqrt.svg"), - anno::ui_order(704) -]] -{ return math::rsqrt(a); } - -export float saturate( - float a=0. [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(710) -]] -{ return math::saturate(a); } - -export float2 saturate( - float2 a=float2(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(711) -]] -{ return math::saturate(a); } - -export float3 saturate( - float3 a=float3(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(712) -]] -{ return math::saturate(a); } - -export float4 saturate( - float4 a=float4(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(713) -]] -{ return math::saturate(a); } - -export color saturate( - color a=color(0.) [[anno::description("Input value to clamp to the [0, 1] range.")]] -) -[[ - anno::display_name("Saturate"), - anno::description("Clamps the input to the [0, 1] range. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Saturate"), - icon(".icons/Saturate.svg"), - anno::ui_order(714) -]] -{ return math::saturate(a); } - -export int sign(int a=0) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(720) -]] -{ return math::sign(a); } - -export float sign(float a=0.) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(721) -]] -{ return math::sign(a); } - -export float2 sign(float2 a=float2(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(722) -]] -{ return math::sign(a); } - -export float3 sign(float3 a=float3(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(723) -]] -{ return math::sign(a); } - -export float4 sign(float4 a=float4(0.)) -[[ - anno::display_name("Sign"), - anno::description("Returns the sign of the input: 1 for positive, -1 for negative, and 0 for zero. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sign"), - icon(".icons/Sign.svg"), - anno::ui_order(724) -]] -{ return math::sign(a); } - -export float sin(float a=0.) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(730) -]] -{ return math::sin(a); } - -export float2 sin(float2 a=float2(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(731) -]] -{ return math::sin(a); } - -export float3 sin(float3 a=float3(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(732) -]] -{ return math::sin(a); } - -export float4 sin(float4 a=float4(0.)) -[[ - anno::display_name("Sin"), - anno::description("Returns the sine of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sin"), - icon(".icons/Sin.svg"), - anno::ui_order(733) -]] -{ return math::sin(a); } - -export float2 sincos( - float a=0. [[ - anno::description("Input angle in radians.") - ]]) -[[ - anno::display_name("SinCos"), - anno::description("Computes sine and cosine for the same input angle and returns float2(sin, cos)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions"), - icon(".icons/sincos.svg"), - anno::ui_order(739) -]] -{ float[]b = math::sincos(a); return float2(b[0],b[1]); } - -export float smoothstep( - float a=0. [[ - anno::description("Lower edge of the interpolation range.") - ]], - float b=1. [[ - anno::description("Upper edge of the interpolation range.") - ]], - float l=0. [[ - anno::description("Input value to evaluate against the interpolation range.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(740) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float2 l=float2(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(741) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float3 l=float3(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(742) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float4 l=float4(0.) [[ - anno::description("Input value evaluated per component.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(743) -]] -{ return math::smoothstep(a,b,l); } - -export float2 smoothstep( - float2 a=float2(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(744) -]] -{ return math::smoothstep(a,b,l); } - -export float3 smoothstep( - float3 a=float3(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(745) -]] -{ return math::smoothstep(a,b,l); } - -export float4 smoothstep( - float4 a=float4(1.) [[ - anno::description("Lower interpolation edge per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Upper interpolation edge per component.") - ]], - float l=0. [[ - anno::description("Scalar input value applied to all components.") - ]]) -[[ - anno::display_name("Smoothstep"), - anno::description("Performs smooth Hermite interpolation from 0 to 1 as l moves from a to b. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Smoothstep"), - icon(".icons/Smoothstep.svg"), - anno::ui_order(746) -]] -{ return math::smoothstep(a,b,l); } - -export float sqrt(float a=0.) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(750) -]] -{ return math::sqrt(a); } - -export float2 sqrt(float2 a=float2(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(751) -]] -{ return math::sqrt(a); } - -export float3 sqrt(float3 a=float3(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(752) -]] -{ return math::sqrt(a); } - -export float4 sqrt(float4 a=float4(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(753) -]] -{ return math::sqrt(a); } - -export color sqrt(color a=color(0.)) -[[ - anno::display_name("Sqrt"), - anno::description("Returns the square root of the input. The operation is performed per color channel."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Sqrt"), - icon(".icons/Sqrt.svg"), - anno::ui_order(754) -]] -{ return math::sqrt(a); } - -export float step( - float a=0. [[ - anno::description("Threshold value.") - ]], - float b=0. [[ - anno::description("Input compared against the threshold.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(760) -]] -{ return math::step(a,b); } - -export float2 step( - float2 a=float2(0.) [[ - anno::description("Threshold value per component.") - ]], - float2 b=float2(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(761) -]] -{ return math::step(a,b); } - -export float3 step( - float3 a=float3(0.) [[ - anno::description("Threshold value per component.") - ]], - float3 b=float3(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(762) -]] -{ return math::step(a,b); } - -export float4 step( - float4 a=float4(0.) [[ - anno::description("Threshold value per component.") - ]], - float4 b=float4(0.) [[ - anno::description("Input compared against the threshold per component.") - ]]) -[[ - anno::display_name("Step"), - anno::description("Returns 0 when b is less than a, and 1 otherwise. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Step"), - icon(".icons/Step.svg"), - anno::ui_order(763) -]] -{ return math::step(a,b); } - -export float tan(float a=0.) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(770) -]] -{ return math::tan(a); } - -export float2 tan(float2 a=float2(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(771) -]] -{ return math::tan(a); } - -export float3 tan(float3 a=float3(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(772) -]] -{ return math::tan(a); } - -export float4 tan(float4 a=float4(0.)) -[[ - anno::display_name("Tan"), - anno::description("Returns the tangent of the input angle in radians. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Tan"), - icon(".icons/Tan.svg"), - anno::ui_order(773) -]] -{ return math::tan(a); } - -export float remap( - float a=0. [[ - anno::description("Input value in the source range.") - ]], - float start_old=0. [[ - anno::description("Lower bound of the source range.") - ]], - float end_old=1. [[ - anno::description("Upper bound of the source range.") - ]], - float start_new=0. [[ - anno::description("Lower bound of the destination range.") - ]], - float end_new=1. [[ - anno::description("Upper bound of the destination range.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(680) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float2 remap( - float2 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float2 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float2 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float2 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float2 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x and y)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(681) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float3 remap( - float3 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float3 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float3 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float3 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float3 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, and z)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(682) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } - -export float4 remap( - float4 a=0. [[ - anno::description("Input value in the source range, evaluated per component.") - ]], - float4 start_old=0. [[ - anno::description("Lower bound of the source range per component.") - ]], - float4 end_old=1. [[ - anno::description("Upper bound of the source range per component.") - ]], - float4 start_new=0. [[ - anno::description("Lower bound of the destination range per component.") - ]], - float4 end_new=1. [[ - anno::description("Upper bound of the destination range per component.") - ]]) -[[ - anno::display_name("Remap"), - anno::description("Remaps the input from [start_old, end_old] into [start_new, end_new]. The operation is performed per component (x, y, z, and w)."), - anno::author("NVIDIA Corporation"), - anno::in_group("Math", "Functions", "Remap"), - icon(".icons/Remap.svg"), - anno::ui_order(683) -]] -{ return start_new + (a - start_old) * (end_new - start_new) / (end_old - start_old); } diff --git a/yahboom_dofbot/payloads/Physics/mujoco.usda b/yahboom_dofbot/payloads/Physics/mujoco.usda deleted file mode 100644 index cfc3b080ef5659691aa2e81bde67a86556042da8..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/Physics/mujoco.usda +++ /dev/null @@ -1,226 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "arm" -{ - over "link5" - { - over "Finger_Left_03" - { - } - - over "Finger_Right_03" - { - } - - over "Finger_Left_02" - { - over "Finger_Left_02" - { - } - - over "Finger_Left_02_SphericalJoint" - { - } - } - - over "Finger_Right_02" - { - over "Finger_Right_02" - { - } - - over "Finger_Right_02_SphericalJoint" - { - } - } - - over "Wrist_Twist" - { - over "Wrist_Twist_RevoluteJoint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "Wrist_Twist" - { - } - } - - over "Finger_Left_01" - { - over "Finger_Left_01" - { - } - - over "Finger_Left_01_RevoluteJoint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "Finger_Right_01" - { - over "Finger_Right_01" - { - } - - over "Finger_Right_01_RevoluteJoint" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - } - - over "Looks" - { - } - } - - over "root_joint" - { - } - - over "link4" - { - over "Wrist_Lift" - { - } - - over "Camera" - { - over "OmniverseKitViewportCameraMesh" - { - } - } - } - - over "link3" - { - over "joint4" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "collisions" - { - } - - over "visuals" - { - } - } - - over "link2" - { - over "joint3" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "Shoulder_Lift" - { - } - - over "collisions" - { - } - - over "visuals" - { - } - } - - over "link1" - { - over "joint2" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "collisions" - { - } - - over "visuals" - { - } - } - - over "base_link" - { - over "joint1" ( - delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - } - - over "visuals" - { - } - - over "collisions" - { - } - - over "PCB_01" - { - } - - over "Base01_01" - { - } - - over "Antennas_01" - { - } - } - - over "Looks" - { - } - - over "VisualMaterials" - { - } -} - -over "World" -{ - over "defaultLight" - { - } - - over "GroundPlane" - { - over "CollisionMesh" - { - } - - over "CollisionPlane" - { - } - } - - over "RectLight" - { - } -} - -over "DR_autogenerated" -{ -} - diff --git a/yahboom_dofbot/payloads/Physics/physics.usda b/yahboom_dofbot/payloads/Physics/physics.usda deleted file mode 100644 index 59d6319a0eed8c21feccee65e46f94f39d9fdb96..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/Physics/physics.usda +++ /dev/null @@ -1,665 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "arm" - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "arm" ( - prepend apiSchemas = ["PhysicsArticulationRootAPI"] -) -{ - over "base_link" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:density = 0 - float physics:mass = 0.5 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint1" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 53 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 1048 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028233e36 - float physics:breakTorque = 3.4028233e34 - point3f physics:localPos0 = (0, 0, 0.06605) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70709646, -0.0038201257, -0.70709646, 0.0038201257) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -90.000206 - float physics:upperLimit = 90.000206 - } - - over "collisions" ( - instanceable = false - ) - { - over "visuals" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link1" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:density = 0 - float physics:mass = 0.1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint2" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 53 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 1048 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028233e36 - float physics:breakTorque = 3.4028233e34 - point3f physics:localPos0 = (0, -0.00031873, 0.041449998) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0.0000017881393, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -90.000206 - float physics:upperLimit = 90.000206 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link2" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:density = 0 - float physics:mass = 0.1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint3" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 53 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 1048 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028233e36 - float physics:breakTorque = 3.4028233e34 - point3f physics:localPos0 = (-0.082849994, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -90.000206 - float physics:upperLimit = 90.000206 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_1" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link3" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:density = 0 - float physics:mass = 0.1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "joint4" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 53 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 1048 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = 3.4028233e36 - float physics:breakTorque = 3.4028233e34 - point3f physics:localPos0 = (-0.082849994, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (0.70710063, 0.002937348, -0.70710063, 0.002937348) - quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0) - float physics:lowerLimit = -90.000206 - float physics:upperLimit = 90.000206 - } - - over "collisions" ( - instanceable = false - ) - { - over "collisions_2" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - } - } - } - - over "link4" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - float physics:density = 0 - float physics:mass = 0.1 - vector3f physics:velocity = (0, 0, 0) - - over "Wrist_Lift" ( - instanceable = false - ) - { - over "Wrist_Lift" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - over "link5" - { - over "Wrist_Twist" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.08 - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "Wrist_Twist_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 10 - float drive:angular:physics:maxForce = 0.099999994 - float drive:angular:physics:stiffness = 1000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "Z" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (-0.06549733, -0.0045318594, -0.00060643995) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396) - } - - over "Wrist_Twist" ( - instanceable = false - ) - { - over "Wrist_Twist" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - over "Finger_Left_01" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsFilteredPairsAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - rel physics:filteredPairs = - bool physics:kinematicEnabled = 0 - float physics:mass = 0.02 - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "Finger_Left_01_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 1000 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 6000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (-0.29220235, 1.2149862, 4.1918764) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, -1e-45, 6.162976e-33, -0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - - over "Finger_Left_01" ( - instanceable = false - ) - { - over "Finger_Left_01" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - over "Finger_Right_01" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - point3f physics:centerOfMass = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.02 - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsRevoluteJoint "Finger_Right_01_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 1000 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 6000 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "acceleration" - custom string isaac:nameOverride - custom float[] isaac:physics:AccelerationLimit - custom float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (-0.29220113, -1.240003, 4.1918764) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, -1e-45, 6.162985e-33, -0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - - over "Finger_Right_01" ( - instanceable = false - ) - { - over "Finger_Right_01" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - over "Finger_Left_03" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - instanceable = false - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.0033898563 ( - customData = { - dictionary agentfix = { - string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" - string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" - } - } - ) - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - over "Finger_Left_03" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - - over "Finger_Right_03" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - instanceable = false - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.003950518 ( - customData = { - dictionary agentfix = { - string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" - string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" - } - } - ) - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - over "Finger_Right_03" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - - over "Finger_Left_02" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.002549749 ( - customData = { - dictionary agentfix = { - string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" - string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" - } - } - ) - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsSphericalJoint "Finger_Left_02_SphericalJoint" - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - uniform bool physics:excludeFromArticulation = 1 - point3f physics:localPos0 = (-1.4452124e-7, -0.79711, 1.83944) - point3f physics:localPos1 = (1.4409475e-8, 1.77985, 2.43045) - quatf physics:localRot0 = (1, -2.6163723e-13, 2.7813916e-11, 6.980623e-14) - quatf physics:localRot1 = (1, -1.12632634e-7, 9.658924e-9, -2.9698487e-8) - } - - over "Finger_Left_02" ( - instanceable = false - ) - { - over "Finger_Left_02" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - over "Finger_Right_02" ( - prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - vector3f physics:angularVelocity = (0, 0, 0) - bool physics:kinematicEnabled = 0 - float physics:mass = 0.002549749 ( - customData = { - dictionary agentfix = { - string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass" - string massMethod = "CORE Artist Tools material shell estimate with source component masses retained" - } - } - ) - bool physics:rigidBodyEnabled = 1 - vector3f physics:velocity = (0, 0, 0) - - def PhysicsSphericalJoint "Finger_Right_02_SphericalJoint" - { - uniform token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - uniform bool physics:excludeFromArticulation = 1 - point3f physics:localPos0 = (-8.870277e-9, 0.81077, 1.81201) - point3f physics:localPos1 = (-2.9491831e-9, -0.01149, -0.01115) - quatf physics:localRot0 = (1, -1.975757e-12, 2.7470394e-11, 4.412854e-14) - quatf physics:localRot1 = (1, -1.9409395e-8, -1.2668238e-9, -6.4225496e-8) - } - - over "Finger_Right_02" ( - instanceable = false - ) - { - over "Finger_Right_02" ( - prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - } - } - } - - def PhysicsRevoluteJoint "Finger_Left_02_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "acceleration" - token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (-0.16869655, 0.4503985, 5.992106) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8) - } - - def PhysicsRevoluteJoint "Finger_Left_03_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "acceleration" - token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0.12363685, 1.8119415, 2.3910213) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - - def PhysicsRevoluteJoint "Finger_Right_02_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "acceleration" - token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (-5.173299e-7, 1.7269789, -2.4491472) - point3f physics:localPos1 = (-0.16868919, -0.45649478, 5.9916687) - quatf physics:localRot0 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14) - quatf physics:localRot1 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8) - } - - def PhysicsRevoluteJoint "Finger_Right_03_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 0.12 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - float drive:angular:physics:targetVelocity = 0 - uniform token drive:angular:physics:type = "acceleration" - token physics:axis = "X" - custom rel physics:body0 = - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0.12363637, -1.7653793, 2.4256) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - } - - def PhysicsFixedJoint "root_joint" - { - custom rel physics:body1 = - float physics:breakForce = inf - float physics:breakTorque = inf - point3f physics:localPos0 = (0, 0, 0) - point3f physics:localPos1 = (0, 0, 0) - } -} - -over "World" -{ - def PhysicsScene "physicsScene" - { - vector3f physics:gravityDirection = (0, 0, -1) - float physics:gravityMagnitude = 9.81 - } -} - diff --git a/yahboom_dofbot/payloads/Physics/physx.usda b/yahboom_dofbot/payloads/Physics/physx.usda deleted file mode 100644 index 21175fb8300765c43ecfafe44853f56d321d1810..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/Physics/physx.usda +++ /dev/null @@ -1,242 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "arm" - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "arm" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverVelocityIterationCount = 32 - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "link1" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "link2" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "link3" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint4" ( - prepend apiSchemas = ["PhysxJointAPI"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - } - - over "link4" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "link5" - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 64 - int physxArticulation:solverVelocityIterationCount = 16 - float physxArticulation:stabilizationThreshold = 1000 - - over "Wrist_Twist" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 100 - float physxRigidBody:maxContactImpulse = 100 - float physxRigidBody:maxDepenetrationVelocity = 1 - float physxRigidBody:maxLinearVelocity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Left_01" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Right_01" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Left_03" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Right_03" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Left_02" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - - over "Finger_Right_02" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - } - } -} - -over "World" -{ - over "physicsScene" ( - prepend apiSchemas = ["PhysxSceneAPI"] - ) - { - uniform token physxScene:broadphaseType = "MBP" - bool physxScene:enableCCD = 1 - bool physxScene:enableGPUDynamics = 0 - bool physxScene:enableStabilization = 1 - float physxScene:frictionCorrelationDistance = 0.00025 - float physxScene:frictionOffsetThreshold = 0.0004 - uniform token physxScene:solverType = "TGS" - } -} - diff --git a/yahboom_dofbot/payloads/base.usda b/yahboom_dofbot/payloads/base.usda deleted file mode 100644 index f93962126a0c2e6e7f0ad645fbcc109e34508610..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/base.usda +++ /dev/null @@ -1,405 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "arm" - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - subLayers = [ - @./robot.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Xform "arm" -{ - custom string isaac:description - custom string isaac:namespace - custom rel isaac:physics:robotJoints - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - , - , - , - ] - custom rel isaac:physics:robotLinks - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - , - , - , - , - , - ] - - def Xform "base_link" - { - custom string isaac:nameOverride - quatf xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - float3 xformOp:translate = (1.5459954e-9, 7.4386594e-7, -5.7220456e-7) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - } - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - } - - def Xform "PCB_01" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812) - double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693) - double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "Base01_01" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812) - double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693) - double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "Antennas_01" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812) - double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693) - double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link1" - { - custom string isaac:nameOverride - quatf xformOp:orient = (0.9999854, -0.0054042637, 2.9373043e-8, 3.0267986e-9) - double3 xformOp:scale = (1, 0.999999999998871, 0.999999999998871) - float3 xformOp:translate = (1.5366822e-9, 1.8024816e-7, 0.066049896) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - } - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.7070964573, 0.003821370514, -0.003821412054, 0.7070964532) - double3 xformOp:scale = (0.009999999776, 0.01000000335, 0.01000000335) - double3 xformOp:translate = (-2.0054154e-9, -0.00009151267273, 0.008449656489) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link2" - { - custom string isaac:nameOverride - quatf xformOp:orient = (0.70709515, -0.0038200808, 0.70709777, -0.003820095) - double3 xformOp:scale = (1.0000000713880137, 1, 1.0000000713880137) - float3 xformOp:translate = (8.0359165e-8, 0.00012933864, 0.107500926) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - } - - def Xform "Shoulder_Lift" - { - double3 xformOp:rotateXYZ = (-90, 0.0000026183336103713373, 90) - double3 xformOp:scale = (1.0000004768371582, 1, 1) - double3 xformOp:translate = (0, 0, -7.78784860728042e-8) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] - } - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.4999999886, -0.5000000114, -0.4999999886, 0.5000000114) - double3 xformOp:scale = (0.01000000454, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (-3.552713599e-17, -1.38777875e-19, -7.787848607e-8) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link3" - { - custom string isaac:nameOverride - quatf xformOp:orient = (0.70709515, -0.0038200254, 0.70709777, -0.003820039) - double3 xformOp:scale = (1.0000000713880137, 1, 1.0000000713880137) - float3 xformOp:translate = (3.2719225e-7, 0.0010245029, 0.19034551) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "collisions" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - } - - def Xform "visuals" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.5, -0.5, -0.5, 0.5) - double3 xformOp:scale = (0.009999999776, 0.01000001408, 0.009999986067) - double3 xformOp:translate = (3.552709921e-17, 6.938889845e-19, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "link4" - { - custom string isaac:nameOverride - quatf xformOp:orient = (0.7071009, -0.0008825615, 0.70711154, -0.00088266656) - double3 xformOp:scale = (0.9999999228219483, 0.9999999999999999, 0.9999999228219483) - float3 xformOp:translate = (5.00977e-7, 0.001919632, 0.27319115) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Wrist_Lift" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (0.5, -0.5, -0.5, 0.5) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Camera "Camera" ( - hide_in_stage_window = false - kind = "model" - no_delete = false - ) - { - float2 clippingRange = (0.01, 10000) - float focalLength = 0.24 - float focusDistance = 4 - float horizontalAperture = 0.20955 - float horizontalApertureOffset = 0 - float verticalAperture = 0.152908 - float verticalApertureOffset = 0 - double3 xformOp:rotateXYZ = (0, -90, 180) - double3 xformOp:scale = (1.000001311302185, 0.9999985098838806, 1.0000008344650269) - double3 xformOp:translate = (-0.06957090357886422, -0.04809993689687652, -0.0006000007241970178) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] - - def Xform "OmniverseKitViewportCameraMesh" ( - always_pick_model = true - hide_in_stage_window = true - instanceable = true - kind = "subcomponent" - no_delete = true - prepend references = @./instances.usda@ - ) - { - float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)] - bool primvars:doNotCastShadows = 1 - token visibility = "invisible" - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.1422010362, 0.1422010362, 0.1422010362) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - } - - def Xform "link5" ( - apiSchemas = None - instanceable = false - ) - { - token visibility = "inherited" - float3 xformOp:rotateXYZ = (0, 0, 90) - float3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] - - def Xform "Wrist_Twist" - { - custom string isaac:nameOverride - token visibility = "inherited" - quatf xformOp:orient = (0.9999994, 5.9269006e-8, -0.0010918181, -0.0000031299985) - double3 xformOp:scale = (0.999999463558197, 1, 1.0000005960464478) - double3 xformOp:translate = (-0.0024486922670448052, 0.000605108277385496, 0.33869979101345393) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Wrist_Twist" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (-2.7755575e-19, 0, -7.105427199e-17) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "Finger_Left_01" - { - custom string isaac:nameOverride - token visibility = "inherited" - quatf xformOp:orient = (0.99999934, -0.00035134863, -0.0010898734, -0.0000032389833) - double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582) - double3 xformOp:translate = (-0.005462167140942057, 0.01275498361688143, 0.38061209781589866) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Finger_Left_01" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "Finger_Right_01" - { - custom string isaac:nameOverride - token visibility = "inherited" - quatf xformOp:orient = (0.99999934, 0.00038074935, -0.0010799972, -0.0000024802955) - double3 xformOp:scale = (1.0000008344650269, 0.9999991059303284, 1) - double3 xformOp:translate = (-0.005462308403947011, -0.011794907783085675, 0.38061209781589866) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Finger_Right_01" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (-1.110223e-18, 2.220446e-18, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "Finger_Left_03" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - custom string isaac:nameOverride - token visibility = "inherited" - quatd xformOp:orient = (0.999999404, -0.0001229924869, -0.001084876315, -0.000002961403791) - double3 xformOp:scale = (0.009999994412, 0.009999999776, 0.01000000454) - double3 xformOp:translate = (-0.004276864135, 0.03089094808, 0.4045123964) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "Finger_Right_03" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - custom string isaac:nameOverride - token visibility = "inherited" - quatd xformOp:orient = (0.999999404, 0.0001006576781, -0.001087176068, -0.000002961403158) - double3 xformOp:scale = (0.009999994412, 0.009999999776, 0.01000000454) - double3 xformOp:translate = (-0.004277966225, -0.02946700746, 0.4048573976) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def Xform "Finger_Left_02" - { - custom string isaac:nameOverride - token visibility = "inherited" - quatf xformOp:orient = (0.99999934, -0.0003527731, -0.0010893947, -0.0000034918837) - double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582) - double3 xformOp:translate = (-0.004264077150879565, 0.005108910088786999, 0.39861651483290217) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Finger_Left_02" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (-5.551114999e-19, -1.110223e-18, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Xform "Finger_Right_02" - { - custom string isaac:nameOverride - token visibility = "inherited" - quatf xformOp:orient = (0.99999934, 0.00038121297, -0.001079797, -0.0000026489224) - double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582) - double3 xformOp:translate = (-0.004316289924466084, -0.021248104097363996, 0.4230906201208242) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Xform "Finger_Right_02" ( - instanceable = true - prepend references = @./instances.usda@ - ) - { - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776) - double3 xformOp:translate = (-5.551114999e-19, 0, -7.105427199e-17) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - } - - def Scope "Looks" - { - } - } - - def Scope "Looks" - { - } - - def Scope "VisualMaterials" - { - } -} - diff --git a/yahboom_dofbot/payloads/geometries.usd b/yahboom_dofbot/payloads/geometries.usd deleted file mode 100644 index 5bb08abffba7ca43a1fbc12827201c767b90880c..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/geometries.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9debb6c209a4bdb63a30bc0d52eb527ebd06da654ef24ac20c7a46d86ef05c9b -size 104855194 diff --git a/yahboom_dofbot/payloads/instances.usda b/yahboom_dofbot/payloads/instances.usda deleted file mode 100644 index 8ffb739032eda85915a199fd219165a37e974bee..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/instances.usda +++ /dev/null @@ -1,3859 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Instances" -{ - def Xform "visuals" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - token visibility = "invisible" - - def "Looks" - { - } - } - - def Scope "VisualMaterials" - { - def Material "material_0_592157_0_666667_0_682353" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - } - } - } - - def Xform "visuals_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "PCB_01" ( - prepend references = @./geometries.usd@ - ) - { - over "PCB_01" - { - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_52" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_03" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_20" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_15" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_01" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_16" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_17" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_21" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_53" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_06" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_54" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_18" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_19" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_07" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_22" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_32" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_33" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_23" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_02" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_35" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_04" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_08" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_09" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_34" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_25" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_26" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_27" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_29" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_30" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_45" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_44" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_13" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_05" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_12" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_10" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_11" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_52" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9098039, 0.44313726, 0.03137255) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_03" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_20" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9490196, 0.7607843, 0.18039216) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_15" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.83137256, 0.67058825, 0.12941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_01" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_16" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.7058824, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_17" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.6431373, 0.6156863, 0.6) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_21" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.76862746, 0.76862746, 0.76862746) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_53" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9882353, 0.7372549, 0.5176471) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_06" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5019608, 0.5019608, 0.5019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_54" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.7529412, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_18" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_19" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7529412, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_07" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_22" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.49803922, 0.49803922, 0.49803922) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_32" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8980392, 0.8980392, 0.8980392) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_33" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.84313726, 0.8156863, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_23" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_02" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_35" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.74509805, 0.92156863, 0.9882353) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_04" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_08" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.83137256, 0.8392157, 0.83137256) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_09" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8980392, 0.92156863, 0.92941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_34" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.30980393, 0.30980393, 0.30980393) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_25" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.65882355, 0.47058824, 0.03529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_26" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1254902, 0.1254902, 0.1254902) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_27" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.827451, 0.827451, 0.827451) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_29" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2, 0.2, 0.2) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_30" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.92941177, 0.92941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_45" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.14901961, 0.14901961, 0.14901961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_44" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.8980392, 0.09019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_13" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_05" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_12" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 1, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_10" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.003921569, 0, 0.3372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_11" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Base01_01" ( - prepend references = @./geometries.usd@ - ) - { - over "Base01_01" - { - over "Material_31" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_03" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_51" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_31" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.78431374, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_03" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_51" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.827451, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Antennas_01" ( - prepend references = @./geometries.usd@ - ) - { - over "Antennas_01" - { - over "Material_43" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_46" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_47" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_45" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_43" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.05490196, 0.05490196, 0.05490196) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_46" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.19607843, 0.19607843, 0.19607843) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_47" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.68235296, 0.09019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_45" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.14901961, 0.14901961, 0.14901961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_1_1" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_1" - { - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_24" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_51" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_24" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.6, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_51" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.827451, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_1" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_1" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_2" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_2" - { - over "Material_03" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_24" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_03" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_24" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.6, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "collisions_2" ( - prepend references = @./geometries.usd@ - ) - { - over "collisions_2" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - token purpose = "guide" - } - } - - def Xform "visuals_3" ( - prepend references = @./geometries.usd@ - ) - { - over "visuals_3" - { - over "Material_03" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_24" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_03" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_24" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.6, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Wrist_Lift" ( - prepend references = @./geometries.usd@ - ) - { - over "Wrist_Lift" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_03" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_51" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_36" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_43" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_37" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_38" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_40" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_41" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_42" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_03" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_51" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.827451, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_36" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5254902, 0.5254902, 0.5254902) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_43" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.05490196, 0.05490196, 0.05490196) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_37" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7058824, 0.7058824, 0.7058824) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_38" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.33333334, 0.33333334, 0.33333334) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_40" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.08235294, 0.08235294, 0.08235294) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_41" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.89411765, 0.89411765, 0.89411765) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_42" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "CameraModel" ( - prepend references = @./geometries.usd@ - ) - { - over "CameraModel" - { - bool primvars:doNotCastShadows = 1 - } - } - - def Xform "Wrist_Twist" ( - prepend references = @./geometries.usd@ - ) - { - over "Wrist_Twist" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_14" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_28" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_24" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_23" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_49" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_07" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_14" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_28" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_24" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.6, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_23" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_49" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.8980392, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_07" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Left_01" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Left_01" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Right_01" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Right_01" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_42" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_48" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_23" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_42" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_48" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.62352943, 0.4, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_23" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Left_03" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Left_03" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Right_03" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Right_03" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Left_02" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Left_02" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "Finger_Right_02" ( - prepend references = @./geometries.usd@ - ) - { - over "Finger_Right_02" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - bool physics:collisionEnabled = 1 - - over "Material_39" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_50" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - - over "Material_00" ( - apiSchemas = ["MaterialBindingAPI"] - ) - { - custom rel material:binding - prepend rel material:binding = - } - } - - def Scope "VisualMaterials" - { - def Material "Material_39" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_50" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - - def Material "Material_00" ( - instanceable = true - prepend references = @./materials.usda@ - ) - { - token outputs:surface.connect = - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - token inputs:varname = "st" - float2 outputs:result - } - } - } - } - - def Xform "CollisionMesh" ( - prepend references = @./geometries.usd@ - ) - { - over "CollisionMesh" - { - } - } -} - diff --git a/yahboom_dofbot/payloads/materials.usda b/yahboom_dofbot/payloads/materials.usda deleted file mode 100644 index 4166b550c75e8d543009f6b9b229cb804a9486e1..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/materials.usda +++ /dev/null @@ -1,4051 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -def Scope "Materials" -{ - def Material "material_0_592157_0_666667_0_682353" - { - token outputs:displacement ( - displayGroup = "Outputs" - ) - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - } - - def Shader "simready_mdl_surfaceshader" - { - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) - token outputs:out - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "material_0_592157_0_666667_0_682353_1" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - token outputs:mdl:surface.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - prepend token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - token outputs:surface - } - - def Shader "simready_mdl_surfaceshader" - { - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5, 0.5, 0.5) - token outputs:out - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_00" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_52" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.9098039, 0.44313726, 0.03137255) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9098039, 0.44313726, 0.03137255) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_03" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.2509804, 0.2509804, 0.2509804) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2509804, 0.2509804, 0.2509804) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_20" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.9490196, 0.7607843, 0.18039216) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9490196, 0.7607843, 0.18039216) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_15" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.83137256, 0.67058825, 0.12941177) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.83137256, 0.67058825, 0.12941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_01" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.7529412, 0.7529412, 0.7529412) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7529412, 0.7529412, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_16" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0.7058824, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.7058824, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_17" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.6431373, 0.6156863, 0.6) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.6431373, 0.6156863, 0.6) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_21" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.76862746, 0.76862746, 0.76862746) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.76862746, 0.76862746, 0.76862746) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_53" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.9882353, 0.7372549, 0.5176471) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.9882353, 0.7372549, 0.5176471) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_06" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5019608, 0.5019608, 0.5019608) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5019608, 0.5019608, 0.5019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_54" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0.7529412, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.7529412, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_18" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8, 0.8, 0.8) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_19" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.7529412, 0, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7529412, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_07" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_22" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.49803922, 0.49803922, 0.49803922) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.49803922, 0.49803922, 0.49803922) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_32" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8980392, 0.8980392, 0.8980392) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8980392, 0.8980392, 0.8980392) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_33" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.84313726, 0.8156863, 0.7529412) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.84313726, 0.8156863, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_23" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.29803923, 0.29803923, 0.29803923) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_02" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_35" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.74509805, 0.92156863, 0.9882353) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.74509805, 0.92156863, 0.9882353) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_04" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 0.7529412) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 1, 0.7529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_08" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.83137256, 0.8392157, 0.83137256) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.83137256, 0.8392157, 0.83137256) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_09" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8980392, 0.92156863, 0.92941177) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.8980392, 0.92156863, 0.92941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_34" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.30980393, 0.30980393, 0.30980393) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.30980393, 0.30980393, 0.30980393) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_25" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.65882355, 0.47058824, 0.03529412) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.65882355, 0.47058824, 0.03529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_26" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.1254902, 0.1254902, 0.1254902) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.1254902, 0.1254902, 0.1254902) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_27" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.827451, 0.827451, 0.827451) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.827451, 0.827451, 0.827451) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_29" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.2, 0.2, 0.2) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_30" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.92941177, 0.92941177) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.92941177, 0.92941177) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_45" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "plastic" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.14901961, 0.14901961, 0.14901961) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.14901961, 0.14901961, 0.14901961) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_50" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.7764706, 0.75686276, 0.7372549) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_44" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.8980392, 0.09019608) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.8980392, 0.09019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_13" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 1, 1) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 1, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_05" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_12" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 1, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 1, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_10" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.003921569, 0, 0.3372549) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.003921569, 0, 0.3372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_11" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "fiberglass" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0, 1) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0, 1) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_31" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.78431374, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.78431374, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_28" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0, 0.627451, 0.23529412) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0, 0.627451, 0.23529412) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_51" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.827451, 0.02745098) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.827451, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_14" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5921569, 0.6666667, 0.68235296) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5921569, 0.6666667, 0.68235296) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_43" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "plastic" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.05490196, 0.05490196, 0.05490196) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.05490196, 0.05490196, 0.05490196) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_46" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "plastic" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.19607843, 0.19607843, 0.19607843) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.19607843, 0.19607843, 0.19607843) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_47" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "plastic" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.68235296, 0.09019608) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.68235296, 0.09019608) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_24" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.6, 0) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.6, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_36" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.5254902, 0.5254902, 0.5254902) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.5254902, 0.5254902, 0.5254902) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_37" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.7058824, 0.7058824, 0.7058824) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.7058824, 0.7058824, 0.7058824) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_38" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.33333334, 0.33333334, 0.33333334) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.33333334, 0.33333334, 0.33333334) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_39" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.11372549, 0.11372549, 0.11372549) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.11372549, 0.11372549, 0.11372549) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_40" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.08235294, 0.08235294, 0.08235294) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.08235294, 0.08235294, 0.08235294) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_41" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.89411765, 0.89411765, 0.89411765) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.89411765, 0.89411765, 0.89411765) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_42" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.64705884, 0.61960787, 0.5882353) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:emissive_intensity = 0 - bool inputs:enable_emission = 0 - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 - float inputs:reflection_roughness_constant = 0.5 - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_49" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "paint" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 0.8980392, 0.02745098) ( - customData = { - float3 default = (0.2, 0.2, 0.2) - } - displayGroup = "Albedo" - doc = "This is the base color" - hidden = false - ) - color3f inputs:emissive_color = (0, 0, 0) ( - customData = { - float3 default = (1, 0.1, 0.1) - } - displayGroup = "Emissive" - doc = "The emission color" - hidden = false - ) - float inputs:emissive_intensity = 0 ( - customData = { - double default = 40 - } - displayGroup = "Emissive" - doc = "Intensity of the emission" - hidden = false - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - doc = "Enables the emission of light from the material" - hidden = false - ) - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Reflectivity" - doc = "Metallic Material" - hidden = false - ) - float inputs:reflection_roughness_constant = 0.5 ( - customData = { - double default = 0.5 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Reflectivity" - doc = "Higher roughness values lead to more blurry reflections" - hidden = false - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (1, 0.8980392, 0.02745098) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } - - def Material "Material_48" - { - custom token[] omni:simready:nonvisual:attributes = ["none"] - custom token omni:simready:nonvisual:base = "aluminum" - custom token omni:simready:nonvisual:coating = "none" - token outputs:displacement ( - displayGroup = "Outputs" - ) - prepend token outputs:mdl:displacement.connect = - prepend token outputs:mdl:surface.connect = - prepend token outputs:mdl:volume.connect = - token outputs:mtlx:surface.connect = - token outputs:surface ( - displayGroup = "Outputs" - ) - token outputs:surface.connect = - token outputs:volume ( - displayGroup = "Outputs" - ) - - def Shader "Shader" ( - apiSchemas = ["NodeDefAPI"] - ) - { - token info:implementationSource = "sourceAsset" - asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@ - token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.62352943, 0.4, 0) ( - customData = { - float3 default = (0.2, 0.2, 0.2) - } - displayGroup = "Albedo" - doc = "This is the base color" - hidden = false - ) - color3f inputs:emissive_color = (0, 0, 0) ( - customData = { - float3 default = (1, 0.1, 0.1) - } - displayGroup = "Emissive" - doc = "The emission color" - hidden = false - ) - float inputs:emissive_intensity = 0 ( - customData = { - double default = 40 - } - displayGroup = "Emissive" - doc = "Intensity of the emission" - hidden = false - ) - bool inputs:enable_emission = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Emissive" - doc = "Enables the emission of light from the material" - hidden = false - ) - bool inputs:excludeFromWhiteMode = 0 ( - customData = { - bool default = 0 - } - displayGroup = "Material Flags" - hidden = false - ) - float inputs:metallic_constant = 0 ( - customData = { - double default = 0 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Reflectivity" - doc = "Metallic Material" - hidden = false - ) - float inputs:reflection_roughness_constant = 0.5 ( - customData = { - double default = 0.5 - dictionary range = { - double max = 1 - double min = 0 - } - } - displayGroup = "Reflectivity" - doc = "Higher roughness values lead to more blurry reflections" - hidden = false - ) - token outputs:out - } - - def Shader "SimReadyPreviewSurface" - { - token info:id = "UsdPreviewSurface" - color3f inputs:diffuseColor = (0.62352943, 0.4, 0) - float inputs:metallic = 0 - float inputs:opacity = 1 - float inputs:roughness = 0.5 - token outputs:surface - } - - def Shader "SimReadyUV" - { - token info:id = "UsdPrimvarReader_float2" - string inputs:varname = "st" - float2 outputs:result - } - - def Shader "simready_pbr_surfaceshader" - { - uniform token info:id = "ND_open_pbr_surface_surfaceshader" - color3f inputs:base_color = (0.5, 0.5, 0.5) - float inputs:base_metalness = 0 - float inputs:specular_roughness = 0.5 - token outputs:out - } - } -} - diff --git a/yahboom_dofbot/payloads/robot.usda b/yahboom_dofbot/payloads/robot.usda deleted file mode 100644 index d3383851f588ee46eebe879e6f47f9c40237ecad..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/payloads/robot.usda +++ /dev/null @@ -1,179 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "arm" - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "arm" ( - prepend apiSchemas = ["IsaacRobotAPI"] -) -{ - prepend rel isaac:physics:robotJoints = [ - , - , - , - , - , - , - ] - prepend rel isaac:physics:robotLinks = [ - , - , - , - , - , - , - , - ] - token isaac:robotType = "Manipulator" - - over "link5" - { - over "Finger_Left_03" - { - over "Finger_Left_03" - { - } - } - - over "Finger_Right_03" - { - over "Finger_Right_03" - { - } - } - - over "Finger_Left_02" - { - over "Finger_Left_02" - { - } - - over "Finger_Left_02_SphericalJoint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "Finger_Right_02" - { - over "Finger_Right_02" - { - } - - over "Finger_Right_02_SphericalJoint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - } - - over "Wrist_Twist" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "Wrist_Twist_RevoluteJoint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - } - } - - over "root_joint" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - custom string isaac:nameOverride - float[] isaac:physics:AccelerationLimit - float[] isaac:physics:JerkLimit - custom int isaac:physics:Rot_X:DofOffset - custom int isaac:physics:Rot_Y:DofOffset - custom int isaac:physics:Rot_Z:DofOffset - custom int isaac:physics:Tr_X:DofOffset - custom int isaac:physics:Tr_Y:DofOffset - custom int isaac:physics:Tr_Z:DofOffset - } - - over "link4" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - } - - over "link3" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint4" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - } - - over "link2" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint3" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - - over "Shoulder_Lift" ( - prepend apiSchemas = ["IsaacSiteAPI"] - ) - { - } - } - - over "link1" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint2" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - } - - over "base_link" ( - prepend apiSchemas = ["IsaacLinkAPI"] - ) - { - over "joint1" ( - prepend apiSchemas = ["IsaacJointAPI"] - ) - { - } - } -} - diff --git a/yahboom_dofbot/runnables/physics/mujoco.usda b/yahboom_dofbot/runnables/physics/mujoco.usda deleted file mode 100644 index 68847773479f33bebad7c9a01ec884cbec10589b..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/runnables/physics/mujoco.usda +++ /dev/null @@ -1,410 +0,0 @@ -#usda 1.0 -( - defaultPrim = "arm" -) - -def "arm" -{ - over "link5" - { - over "Finger_Left_03" - { - over "Finger_Left_03" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Right_03" - { - over "Finger_Right_03" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Left_02" - { - over "Finger_Left_02" - { - over "Finger_Left_02" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "Finger_Right_02" - { - over "Finger_Right_02" - { - over "Finger_Right_02" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "Wrist_Twist" - { - over "Wrist_Twist" - { - over "Wrist_Twist" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Wrist_Twist_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - float drive:angular:physics:targetPosition = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-0.06549733, -0.0045318594, -0.00060643995) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "Finger_Left_01" - { - over "Finger_Left_01" - { - over "Finger_Left_01" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Left_01_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - float drive:angular:physics:targetPosition = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-0.29220235, 1.2149862, 4.1918764) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -1e-45, 6.162976e-33, -0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - } - - over "Finger_Right_01" - { - over "Finger_Right_01" - { - over "Finger_Right_01" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Right_01_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - float drive:angular:physics:targetPosition = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-0.29220113, -1.240003, 4.1918764) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -1e-45, 6.162985e-33, -0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - } - - over "Finger_Left_02_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:targetPosition = -0 - float drive:angular:physics:targetVelocity = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-0.16869655, 0.4503985, 5.992106) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "Finger_Left_03_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:targetPosition = -0 - float drive:angular:physics:targetVelocity = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (0.12363685, 1.8119415, 2.3910213) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - - over "Finger_Right_02_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:targetPosition = -0 - float drive:angular:physics:targetVelocity = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (-0.16868919, -0.45649478, 5.9916687) - point3f physics:localPos1 = (-5.173299e-7, 1.7269789, -2.4491472) - quatf physics:localRot0 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8) - quatf physics:localRot1 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14) - } - - over "Finger_Right_03_RevoluteJoint" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:targetPosition = -0 - float drive:angular:physics:targetVelocity = -0 - rel physics:body0 = - rel physics:body1 = - point3f physics:localPos0 = (0.12363637, -1.7653793, 2.4256) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -30 - float physics:upperLimit = 30 - } - } - - over "link4" - { - over "Wrist_Lift" - { - over "Wrist_Lift" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link3" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - } - } - - over "link2" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - } - } - - over "link1" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["MjcJointAPI"] - ) - { - float drive:angular:physics:damping = None - float drive:angular:physics:stiffness = None - } - } - - def "MuJoCoActuators" - { - def MjcActuator "act_arm_link5_Wrist_Twist_Wrist_Twist_RevoluteJoint" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -1.7630056406940096, -0.017630056406940098, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 0.09999999403953552 - double mjc:forceRange:min = -0.09999999403953552 - double[] mjc:gainPrm = [1.7630056406940096, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_link5_Finger_Left_01_Finger_Left_01_RevoluteJoint" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -2.203656960666276, -0.367276160111046, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 0.11999999731779099 - double mjc:forceRange:min = -0.11999999731779099 - double[] mjc:gainPrm = [2.203656960666276, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_link5_Finger_Right_01_Finger_Right_01_RevoluteJoint" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -1.8033460484527106, -0.3005576747421185, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 0.11999999731779099 - double mjc:forceRange:min = -0.11999999731779099 - double[] mjc:gainPrm = [1.8033460484527106, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_link3_joint4" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -11.397692105152574, -0.5764100015010366, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5.199999809265137 - double mjc:forceRange:min = -5.199999809265137 - double[] mjc:gainPrm = [11.397692105152574, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_link2_joint3" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -10.292323453745324, -0.5205087242829218, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5.199999809265137 - double mjc:forceRange:min = -5.199999809265137 - double[] mjc:gainPrm = [10.292323453745324, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_link1_joint2" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -47.622095121882396, -2.4083693143700065, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5.199999809265137 - double mjc:forceRange:min = -5.199999809265137 - double[] mjc:gainPrm = [47.622095121882396, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - - def MjcActuator "act_arm_base_link_joint1" ( - doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX." - ) - { - double[] mjc:biasPrm = [0, -7.4568307148562205, -0.37711071363299586, 0, 0, 0, 0, 0, 0, 0] - token mjc:biasType = "affine" - token mjc:ctrlLimited = "false" - token mjc:forceLimited = "true" - double mjc:forceRange:max = 5.199999809265137 - double mjc:forceRange:min = -5.199999809265137 - double[] mjc:gainPrm = [7.4568307148562205, 0, 0, 0, 0, 0, 0, 0, 0, 0] - token mjc:gainType = "affine" - rel mjc:target = - } - } -} - diff --git a/yahboom_dofbot/runnables/physics/newton.usda b/yahboom_dofbot/runnables/physics/newton.usda deleted file mode 100644 index a586187e64b5c813ef0732048c8dfb91fd8bb0ab..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/runnables/physics/newton.usda +++ /dev/null @@ -1,305 +0,0 @@ -#usda 1.0 -( - defaultPrim = "arm" -) - -over "arm" ( - prepend apiSchemas = ["NewtonArticulationRootAPI"] -) -{ - bool newton:selfCollisionEnabled = 0 - - over "link5" - { - over "Finger_Left_03" - { - over "Finger_Left_03" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Right_03" - { - over "Finger_Right_03" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Left_02" - { - over "Finger_Left_02" - { - over "Finger_Left_02" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "Finger_Right_02" - { - over "Finger_Right_02" - { - over "Finger_Right_02" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "Wrist_Twist" - { - over "Wrist_Twist" - { - over "Wrist_Twist" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Wrist_Twist_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 1.5 - float newton:damping = 0.009076 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.06549733, -0.0045318594, -0.00060643995) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "Finger_Left_01" - { - over "Finger_Left_01" - { - over "Finger_Left_01" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Left_01_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.009076 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.29220235, 1.2149862, 4.1918764) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -1e-45, 6.162976e-33, -0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "Finger_Right_01" - { - over "Finger_Right_01" - { - over "Finger_Right_01" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "Finger_Right_01_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 5.2 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.009076 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.29220113, -1.240003, 4.1918764) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -1e-45, 6.162985e-33, -0) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "Finger_Left_02_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float newton:damping = 0.002 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.16869655, 0.4503985, 5.992106) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "Finger_Left_03_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float newton:damping = 0.002 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (0.12363685, 1.8119415, 2.3910213) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9) - quatf physics:localRot1 = (1, 0, 0, 0) - } - - over "Finger_Right_02_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float newton:damping = 0.002 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (-0.16868919, -0.45649478, 5.9916687) - point3f physics:localPos1 = (-5.173299e-7, 1.7269789, -2.4491472) - quatf physics:localRot0 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8) - quatf physics:localRot1 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14) - } - - over "Finger_Right_03_RevoluteJoint" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float newton:damping = 0.002 - custom rel physics:body0 = - custom rel physics:body1 = - point3f physics:localPos0 = (0.12363637, -1.7653793, 2.4256) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7) - quatf physics:localRot1 = (1, 0, 0, 0) - } - } - - over "link4" - { - over "Wrist_Lift" - { - over "Wrist_Lift" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - } - - over "link3" - { - over "collisions" - { - over "collisions_2" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint4" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.113446 - float newton:velocityLimit = 57.29578 - } - } - - over "link2" - { - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint3" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.113446 - float newton:velocityLimit = 57.29578 - } - } - - over "link1" - { - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint2" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.113446 - float newton:velocityLimit = 57.29578 - } - } - - over "base_link" - { - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - uniform token physics:approximation = "convexHull" - } - } - - over "joint1" ( - prepend apiSchemas = ["NewtonJointAPI"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:stiffness = 3.4034 - float newton:damping = 0.113446 - float newton:velocityLimit = 57.29578 - } - } -} - diff --git a/yahboom_dofbot/runnables/physics/physics.usda b/yahboom_dofbot/runnables/physics/physics.usda deleted file mode 100644 index fe284c5162b9999feb8c37d651b7ed7e8379c8e9..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/runnables/physics/physics.usda +++ /dev/null @@ -1,137 +0,0 @@ -#usda 1.0 -( - defaultPrim = "arm" -) - -over "arm" -{ - over "base_link" - { - over "collisions" - { - over "visuals" - { - token physics:approximation = "convexHull" - } - } - } - - over "link1" - { - over "collisions" - { - over "collisions" - { - token physics:approximation = "convexHull" - } - } - } - - over "link2" - { - over "collisions" - { - over "collisions_1" - { - token physics:approximation = "convexHull" - } - } - } - - over "link3" - { - over "collisions" - { - over "collisions_2" - { - token physics:approximation = "convexHull" - } - } - } - - over "link4" - { - over "Wrist_Lift" - { - over "Wrist_Lift" - { - token physics:approximation = "convexDecomposition" - } - } - } - - over "link5" - { - over "Wrist_Twist" - { - over "Wrist_Twist" - { - over "Wrist_Twist" - { - token physics:approximation = "convexHull" - } - } - } - - over "Finger_Left_01" - { - over "Finger_Left_01" - { - over "Finger_Left_01" - { - token physics:approximation = "convexHull" - } - } - } - - over "Finger_Right_01" - { - over "Finger_Right_01" - { - over "Finger_Right_01" - { - token physics:approximation = "convexHull" - } - } - } - - over "Finger_Left_03" - { - over "Finger_Left_03" - { - token physics:approximation = "convexHull" - } - } - - over "Finger_Right_03" - { - over "Finger_Right_03" - { - token physics:approximation = "convexHull" - } - } - - over "Finger_Left_02" - { - over "Finger_Left_02" - { - over "Finger_Left_02" - { - token physics:approximation = "convexHull" - } - } - } - - over "Finger_Right_02" - { - over "Finger_Right_02" - { - over "Finger_Right_02" - { - token physics:approximation = "convexHull" - } - } - } - } -} - diff --git a/yahboom_dofbot/runnables/physics/physx.usda b/yahboom_dofbot/runnables/physics/physx.usda deleted file mode 100644 index 665956be1279550467bc1ad03638ee827bb1138d..0000000000000000000000000000000000000000 --- a/yahboom_dofbot/runnables/physics/physx.usda +++ /dev/null @@ -1,432 +0,0 @@ -#usda 1.0 -( - customLayerData = { - } - defaultPrim = "arm" - endTimeCode = 100 - metersPerUnit = 1 - startTimeCode = 0 - subLayers = [ - @./physics.usda@ - ] - timeCodesPerSecond = 60 - upAxis = "Z" -) - -over "arm" ( - prepend apiSchemas = ["PhysxArticulationAPI"] -) -{ - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverVelocityIterationCount = 32 - - over "base_link" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - bool physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint1" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - - over "collisions" - { - over "visuals" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - uchar[] physxCookedData:convexHull:buffer = [9, 90, 24, 186, 143, 86, 89, 216, 195, 179, 190, 169, 84, 62, 117, 136, 197, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 47, 0, 0, 0, 108, 128, 0, 0, 63, 0, 0, 0, 216, 0, 0, 0, 190, 216, 240, 60, 225, 47, 222, 188, 10, 215, 163, 61, 15, 114, 36, 61, 209, 4, 61, 190, 166, 155, 68, 59, 186, 99, 112, 61, 84, 34, 28, 190, 166, 155, 68, 59, 79, 131, 96, 61, 80, 235, 199, 60, 166, 155, 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physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint2" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - - over "collisions" - { - over "collisions" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - uchar[] physxCookedData:convexHull:buffer = [9, 19, 166, 163, 123, 130, 224, 151, 239, 193, 126, 11, 160, 137, 192, 88, 55, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 34, 0, 0, 0, 96, 128, 0, 0, 64, 0, 0, 0, 192, 0, 0, 0, 96, 175, 140, 60, 124, 243, 175, 188, 147, 169, 130, 60, 203, 42, 17, 186, 253, 59, 225, 188, 138, 142, 100, 60, 47, 42, 53, 59, 144, 35, 224, 188, 201, 84, 65, 59, 195, 100, 170, 60, 237, 251, 20, 188, 128, 72, 63, 61, 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physxRigidBody:disableGravity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:maxDepenetrationVelocity = 0.049999997 - float physxRigidBody:maxLinearVelocity = inf - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "joint3" ( - prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"] - ) - { - float physxJoint:jointFriction = 0 - float physxJoint:maxJointVelocity = 57.29578 - } - - over "collisions" - { - over "collisions_1" ( - prepend apiSchemas = ["PhysxCookedDataAPI:convexHull"] - ) - { - uchar[] physxCookedData:convexHull:buffer = [9, 214, 211, 198, 85, 210, 6, 96, 102, 31, 77, 28, 97, 182, 243, 151, 154, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 40, 0, 0, 0, 101, 128, 0, 0, 63, 0, 0, 0, 202, 0, 0, 0, 76, 166, 10, 189, 224, 45, 144, 188, 168, 87, 74, 60, 126, 174, 54, 60, 201, 158, 142, 188, 98, 4, 90, 188, 126, 174, 54, 60, 69, 46, 138, 188, 53, 78, 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physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Wrist_Lift" - { - over "Wrist_Lift" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxCookedDataAPI:convexDecomposition"] - ) - { - float physxCollision:contactOffset = -inf ( - displayGroup = "Advanced" - ) - float physxCollision:restOffset = -inf ( - displayGroup = "Advanced" - ) - int physxConvexDecompositionCollision:hullVertexLimit = 20 - int physxConvexDecompositionCollision:maxConvexHulls = 4 - float physxConvexDecompositionCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexDecomposition:buffer = [8, 130, 94, 246, 52, 110, 125, 4, 25, 139, 131, 57, 240, 102, 21, 41, 158, 4, 0, 0, 0, 180, 5, 0, 0, 78, 88, 83, 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12, 13, 14, 15, 18, 13, 12, 17, 18, 17, 8, 9, 19, 14, 13, 18, 9, 6, 3, 2, 4, 11, 19, 11, 10, 16, 19, 16, 15, 14, 0, 6, 0, 11, 0, 10, 0, 5, 0, 2, 0, 1, 0, 3, 0, 4, 0, 8, 0, 7, 1, 2, 1, 9, 1, 3, 2, 9, 2, 5, 3, 4, 3, 9, 4, 9, 4, 8, 5, 10, 5, 9, 6, 7, 6, 9, 6, 11, 7, 9, 7, 8, 8, 9, 9, 11, 9, 10, 10, 11, 0, 1, 3, 0, 1, 2, 1, 2, 9, 1, 3, 9, 2, 5, 9, 0, 2, 5, 3, 4, 9, 0, 3, 4, 0, 4, 8, 4, 8, 9, 0, 5, 10, 5, 9, 10, 0, 6, 7, 6, 7, 9, 6, 9, 11, 0, 6, 11, 0, 10, 11, 0, 7, 8, 7, 8, 9, 9, 10, 11, 12, 0, 15, 0, 15, 0, 16, 0, 16, 0, 10, 0, 10, 0, 5, 0, 5, 0, 1, 0, 1, 0, 0, 0, 0, 0, 7, 0, 7, 0, 8, 0, 8, 0, 17, 0, 17, 0, 12, 0, 1, 0, 2, 0, 2, 0, 3, 0, 3, 0, 0, 0, 4, 0, 2, 0, 5, 0, 4, 0, 6, 0, 7, 0, 3, 0, 6, 0, 6, 0, 9, 0, 9, 0, 8, 0, 10, 0, 11, 0, 11, 0, 4, 0, 12, 0, 13, 0, 13, 0, 14, 0, 14, 0, 15, 0, 18, 0, 13, 0, 17, 0, 18, 0, 9, 0, 18, 0, 19, 0, 14, 0, 11, 0, 19, 0, 16, 0, 19, 0, 0, 0, 0, 0, 242, 65, 176, 192, 254, 223, 40, 191, 174, 176, 169, 64, 206, 71, 129, 192, 34, 241, 78, 63, 128, 184, 227, 64, 97, 208, 83, 64, 196, 8, 1, 67, 50, 115, 167, 63, 234, 48, 196, 66, 50, 115, 167, 63, 85, 102, 76, 67, 81, 36, 218, 191, 234, 48, 196, 66, 81, 36, 218, 191, 241, 201, 152, 66, 134, 190, 152, 192, 128, 213, 169, 61, 151, 180, 198, 64, 0, 0, 128, 191, 0, 0, 128, 191, 184, 101, 54, 63, 149, 159, 11, 63, 149, 159, 11, 63, 66, 31, 104, 63] - } - } - } - - over "link5" - { - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 64 - int physxArticulation:solverVelocityIterationCount = 16 - float physxArticulation:stabilizationThreshold = 1000 - - over "Wrist_Twist" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 100 - float physxRigidBody:maxContactImpulse = 100 - float physxRigidBody:maxDepenetrationVelocity = 1 - float physxRigidBody:maxLinearVelocity = 1 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Wrist_Twist_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Wrist_Twist" - { - over "Wrist_Twist" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 185, 224, 142, 177, 112, 106, 100, 110, 238, 56, 39, 38, 169, 24, 94, 138, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 32, 0, 0, 0, 48, 128, 0, 0, 18, 0, 0, 0, 96, 0, 0, 0, 213, 102, 166, 191, 194, 248, 232, 62, 176, 211, 23, 191, 213, 102, 166, 191, 255, 210, 24, 64, 103, 108, 100, 64, 238, 76, 149, 191, 163, 112, 29, 64, 60, 167, 107, 64, 213, 102, 166, 191, 208, 145, 178, 63, 190, 20, 136, 64, 136, 253, 113, 190, 40, 90, 160, 62, 122, 87, 201, 64, 3, 133, 135, 64, 100, 114, 179, 62, 62, 160, 32, 64, 128, 88, 192, 61, 183, 0, 41, 63, 176, 211, 23, 191, 19, 199, 14, 63, 0, 214, 161, 187, 176, 211, 23, 191, 128, 3, 97, 62, 164, 112, 29, 64, 148, 208, 171, 64, 0, 224, 4, 188, 80, 121, 55, 63, 122, 87, 201, 64, 3, 133, 135, 64, 172, 201, 60, 192, 75, 122, 156, 64, 0, 33, 82, 60, 172, 201, 60, 192, 219, 64, 171, 64, 128, 29, 60, 189, 160, 190, 39, 191, 122, 87, 201, 64, 3, 133, 135, 64, 172, 201, 60, 192, 75, 91, 136, 64, 3, 133, 135, 64, 110, 164, 18, 192, 120, 252, 83, 64, 28, 43, 65, 63, 172, 201, 60, 192, 232, 119, 58, 64, 5, 182, 174, 62, 22, 145, 32, 191, 175, 211, 23, 191, 0, 129, 109, 61, 52, 13, 52, 191, 176, 211, 23, 191, 213, 102, 166, 191, 160, 75, 188, 61, 176, 211, 23, 191, 213, 102, 166, 191, 128, 253, 64, 189, 252, 172, 100, 64, 184, 103, 92, 190, 172, 201, 60, 192, 132, 195, 153, 64, 160, 236, 72, 190, 172, 201, 60, 192, 80, 77, 83, 64, 125, 118, 141, 191, 26, 19, 216, 190, 176, 211, 23, 191, 3, 133, 135, 64, 216, 91, 226, 63, 230, 121, 165, 64, 3, 133, 135, 64, 33, 149, 221, 63, 220, 85, 81, 64, 112, 120, 170, 63, 164, 112, 29, 64, 193, 251, 56, 64, 64, 71, 193, 63, 163, 112, 29, 64, 70, 36, 166, 64, 124, 3, 20, 64, 244, 103, 12, 64, 78, 104, 0, 64, 3, 133, 135, 64, 200, 45, 220, 63, 36, 68, 166, 64, 3, 133, 135, 64, 184, 170, 18, 192, 128, 12, 165, 64, 192, 248, 148, 62, 136, 230, 34, 63, 121, 87, 201, 64, 0, 253, 127, 62, 128, 99, 19, 191, 122, 87, 201, 64, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 128, 3, 133, 135, 192, 0, 0, 8, 0, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 213, 102, 166, 191, 8, 0, 5, 5, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 0, 0, 172, 201, 60, 192, 13, 0, 6, 8, 0, 0, 0, 128, 0, 0, 128, 63, 0, 0, 0, 0, 164, 112, 29, 192, 19, 0, 4, 10, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 176, 211, 23, 191, 23, 0, 7, 4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 122, 87, 201, 192, 30, 0, 5, 0, 45, 34, 36, 63, 89, 105, 100, 190, 49, 250, 59, 191, 205, 78, 75, 191, 35, 0, 4, 4, 135, 149, 80, 190, 248, 157, 87, 191, 14, 140, 255, 190, 154, 103, 96, 191, 39, 0, 4, 26, 35, 123, 7, 190, 248, 36, 102, 63, 56, 192, 213, 190, 68, 35, 84, 191, 43, 0, 6, 10, 46, 64, 53, 191, 209, 4, 205, 62, 134, 234, 20, 63, 15, 250, 124, 192, 49, 0, 6, 14, 11, 118, 104, 191, 3, 206, 54, 190, 164, 0, 194, 62, 153, 188, 34, 192, 55, 0, 6, 5, 49, 183, 17, 63, 42, 58, 203, 62, 139, 84, 56, 191, 191, 22, 62, 191, 61, 0, 5, 11, 29, 177, 248, 61, 76, 95, 231, 62, 120, 62, 98, 63, 118, 69, 188, 192, 66, 0, 6, 22, 151, 100, 206, 61, 226, 4, 192, 190, 113, 232, 107, 63, 86, 65, 193, 192, 72, 0, 5, 0, 204, 189, 92, 62, 73, 94, 77, 191, 92, 135, 14, 191, 194, 43, 104, 191, 77, 0, 5, 8, 80, 92, 111, 191, 177, 121, 181, 190, 143, 213, 65, 188, 20, 80, 152, 191, 82, 0, 5, 23, 67, 181, 123, 62, 2, 25, 120, 63, 123, 229, 155, 188, 232, 2, 42, 192, 87, 0, 5, 20, 150, 72, 138, 62, 107, 148, 21, 188, 158, 121, 118, 63, 225, 45, 196, 192, 92, 0, 4, 0, 23, 28, 29, 10, 13, 14, 5, 24, 3, 1, 0, 18, 19, 13, 10, 11, 20, 21, 15, 25, 2, 8, 26, 18, 0, 6, 7, 16, 17, 22, 30, 9, 4, 12, 31, 5, 14, 16, 7, 22, 17, 15, 21, 0, 1, 2, 25, 27, 6, 1, 3, 4, 9, 8, 2, 3, 19, 20, 11, 12, 4, 24, 5, 7, 6, 27, 28, 23, 26, 8, 9, 30, 10, 29, 31, 12, 11, 14, 13, 15, 17, 16, 19, 18, 22, 21, 20, 23, 24, 27, 25, 26, 29, 28, 30, 31, 1, 8, 4, 8, 1, 4, 8, 9, 1, 9, 3, 9, 3, 8, 9, 10, 1, 10, 5, 9, 5, 10, 6, 11, 0, 6, 0, 11, 4, 11, 8, 11, 4, 6, 9, 12, 3, 12, 5, 12, 2, 13, 0, 2, 0, 13, 10, 13, 2, 10, 5, 13, 0, 14, 2, 14, 6, 14, 7, 14, 2, 7, 4, 14, 4, 7, 1, 15, 4, 15, 10, 15, 2, 15, 7, 15, 0, 16, 12, 16, 0, 12, 11, 16, 3, 16, 8, 16, 0, 17, 12, 17, 13, 17, 5, 17, 1, 4, 8, 1, 8, 9, 3, 8, 9, 1, 9, 10, 5, 9, 10, 0, 6, 11, 4, 8, 11, 4, 6, 11, 3, 9, 12, 5, 9, 12, 0, 2, 13, 2, 10, 13, 5, 10, 13, 0, 2, 14, 0, 6, 14, 2, 7, 14, 4, 6, 14, 4, 7, 14, 1, 4, 15, 1, 10, 15, 2, 10, 15, 2, 7, 15, 4, 7, 15, 0, 12, 16, 0, 11, 16, 3, 8, 16, 3, 12, 16, 8, 11, 16, 0, 12, 17, 0, 13, 17, 5, 12, 17, 5, 13, 17, 1, 0, 0, 0, 0, 0, 6, 0, 0, 0, 18, 0, 1, 0, 2, 0, 3, 0, 1, 0, 2, 0, 8, 0, 25, 0, 2, 0, 3, 0, 4, 0, 19, 0, 3, 0, 9, 0, 4, 0, 4, 0, 12, 0, 7, 0, 5, 0, 14, 0, 5, 0, 5, 0, 24, 0, 6, 0, 7, 0, 27, 0, 6, 0, 7, 0, 16, 0, 9, 0, 8, 0, 8, 0, 26, 0, 30, 0, 9, 0, 10, 0, 11, 0, 10, 0, 13, 0, 29, 0, 10, 0, 11, 0, 12, 0, 11, 0, 20, 0, 12, 0, 31, 0, 13, 0, 14, 0, 15, 0, 13, 0, 14, 0, 16, 0, 17, 0, 15, 0, 21, 0, 15, 0, 16, 0, 17, 0, 17, 0, 22, 0, 18, 0, 19, 0, 22, 0, 18, 0, 19, 0, 20, 0, 20, 0, 21, 0, 21, 0, 22, 0, 24, 0, 23, 0, 23, 0, 26, 0, 23, 0, 28, 0, 27, 0, 24, 0, 26, 0, 25, 0, 25, 0, 27, 0, 28, 0, 29, 0, 30, 0, 28, 0, 29, 0, 31, 0, 31, 0, 30, 0, 0, 0, 0, 0, 212, 102, 166, 191, 172, 201, 60, 192, 176, 211, 23, 191, 3, 133, 135, 64, 164, 112, 29, 64, 122, 87, 201, 64, 223, 163, 220, 66, 209, 207, 206, 68, 136, 196, 48, 66, 157, 49, 6, 196, 136, 196, 48, 66, 118, 80, 233, 68, 9, 205, 138, 66, 157, 49, 6, 196, 9, 205, 138, 66, 91, 103, 21, 68, 134, 56, 167, 63, 220, 169, 31, 190, 26, 83, 85, 64, 0, 0, 128, 191, 0, 0, 128, 191, 102, 200, 22, 64, 231, 27, 174, 63, 231, 27, 174, 63, 90, 216, 203, 63] - float physxMeshCollision:concavity = 0.001 - } - } - } - - over "Finger_Left_01" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Left_01_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Finger_Left_01" - { - over "Finger_Left_01" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 99, 155, 187, 86, 113, 87, 30, 90, 165, 111, 131, 5, 154, 86, 147, 194, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 31, 0, 0, 0, 47, 128, 0, 0, 18, 0, 0, 0, 94, 0, 0, 0, 217, 16, 117, 63, 37, 181, 9, 64, 140, 195, 36, 64, 116, 190, 182, 189, 194, 226, 145, 191, 202, 156, 97, 63, 127, 233, 131, 190, 201, 61, 191, 191, 114, 219, 141, 190, 126, 233, 131, 190, 214, 51, 138, 191, 65, 116, 106, 63, 16, 81, 116, 63, 150, 88, 231, 63, 190, 82, 15, 64, 216, 112, 117, 63, 205, 12, 6, 64, 94, 167, 28, 64, 176, 52, 85, 189, 228, 183, 97, 63, 247, 160, 50, 191, 253, 233, 230, 190, 29, 173, 10, 64, 255, 84, 37, 64, 118, 243, 194, 190, 2, 154, 20, 64, 25, 138, 23, 64, 160, 40, 116, 190, 97, 237, 109, 63, 224, 80, 44, 191, 112, 23, 236, 190, 50, 210, 1, 64, 247, 144, 49, 64, 230, 207, 135, 190, 0, 16, 118, 191, 0, 40, 128, 63, 175, 135, 113, 63, 213, 57, 251, 63, 78, 121, 53, 64, 45, 130, 112, 63, 222, 86, 221, 63, 236, 156, 43, 64, 52, 248, 132, 190, 146, 112, 244, 63, 174, 200, 59, 64, 0, 124, 53, 189, 224, 107, 128, 191, 128, 128, 123, 63, 216, 160, 120, 190, 192, 236, 244, 190, 24, 10, 173, 63, 108, 135, 220, 189, 66, 165, 44, 191, 196, 169, 180, 191, 78, 24, 108, 189, 64, 247, 1, 63, 138, 2, 120, 191, 164, 146, 146, 190, 60, 212, 10, 63, 238, 176, 116, 191, 160, 212, 128, 60, 64, 213, 183, 188, 9, 106, 149, 191, 64, 38, 230, 190, 184, 186, 253, 63, 182, 177, 18, 64, 126, 222, 236, 190, 245, 174, 247, 63, 78, 112, 45, 64, 243, 43, 139, 190, 141, 235, 176, 191, 128, 194, 220, 190, 206, 54, 126, 190, 73, 54, 44, 191, 252, 148, 180, 191, 196, 223, 148, 190, 114, 101, 4, 63, 146, 25, 119, 191, 16, 14, 113, 63, 247, 62, 209, 63, 13, 224, 30, 64, 176, 26, 115, 63, 238, 89, 217, 63, 121, 101, 17, 64, 168, 44, 182, 188, 178, 98, 143, 191, 14, 74, 76, 191, 36, 2, 229, 189, 160, 238, 194, 191, 85, 31, 118, 190, 234, 209, 59, 189, 134, 61, 176, 191, 48, 211, 111, 62, 221, 190, 127, 63, 174, 254, 15, 189, 26, 122, 224, 60, 105, 132, 115, 191, 0, 0, 7, 10, 221, 190, 127, 191, 174, 254, 15, 61, 26, 122, 224, 188, 66, 113, 233, 190, 7, 0, 4, 4, 153, 41, 75, 188, 98, 72, 79, 191, 252, 50, 22, 191, 108, 16, 176, 191, 11, 0, 6, 12, 154, 41, 75, 60, 98, 72, 79, 63, 252, 50, 22, 63, 74, 238, 80, 192, 17, 0, 6, 17, 50, 93, 47, 61, 128, 246, 21, 63, 55, 48, 79, 191, 142, 28, 138, 191, 23, 0, 4, 16, 4, 93, 47, 189, 128, 246, 21, 191, 54, 48, 79, 63, 196, 62, 177, 191, 27, 0, 5, 6, 211, 196, 120, 63, 231, 134, 214, 189, 199, 141, 88, 190, 98, 107, 135, 190, 32, 0, 5, 10, 50, 181, 52, 62, 211, 229, 101, 63, 37, 82, 206, 190, 198, 42, 136, 191, 37, 0, 5, 1, 54, 100, 93, 63, 59, 93, 230, 190, 23, 53, 100, 62, 56, 205, 33, 191, 42, 0, 5, 8, 18, 47, 133, 190, 84, 128, 105, 191, 201, 55, 162, 62, 177, 198, 171, 191, 47, 0, 5, 0, 217, 243, 126, 191, 147, 212, 174, 189, 145, 234, 242, 60, 220, 119, 192, 190, 52, 0, 5, 5, 26, 253, 97, 63, 112, 172, 136, 62, 255, 240, 197, 190, 253, 24, 235, 190, 57, 0, 5, 22, 173, 76, 118, 191, 216, 135, 105, 62, 198, 12, 25, 190, 27, 190, 10, 191, 62, 0, 6, 13, 176, 207, 51, 191, 204, 14, 203, 190, 69, 80, 23, 63, 42, 100, 148, 191, 68, 0, 5, 18, 38, 242, 188, 61, 157, 173, 12, 191, 5, 147, 84, 63, 153, 119, 174, 191, 73, 0, 5, 19, 0, 0, 0, 0, 123, 140, 179, 62, 33, 190, 111, 191, 24, 235, 138, 191, 78, 0, 6, 14, 16, 191, 127, 191, 71, 9, 172, 188, 149, 185, 32, 189, 213, 142, 162, 190, 84, 0, 5, 0, 171, 135, 117, 63, 160, 224, 142, 190, 9, 90, 66, 189, 136, 132, 168, 190, 89, 0, 5, 7, 0, 12, 13, 26, 27, 4, 5, 10, 7, 21, 22, 17, 28, 29, 2, 23, 24, 12, 0, 8, 7, 10, 14, 9, 6, 18, 19, 1, 15, 16, 11, 3, 4, 27, 28, 17, 20, 8, 0, 5, 6, 9, 26, 13, 15, 1, 30, 2, 29, 30, 1, 3, 23, 2, 3, 11, 22, 5, 4, 20, 18, 6, 21, 7, 8, 9, 19, 25, 10, 22, 11, 16, 14, 13, 12, 14, 16, 15, 17, 24, 25, 19, 18, 20, 22, 21, 25, 24, 23, 27, 26, 30, 29, 28, 0, 7, 3, 7, 0, 3, 5, 9, 5, 8, 8, 9, 9, 10, 2, 10, 2, 9, 5, 10, 0, 11, 6, 11, 0, 6, 7, 11, 4, 7, 4, 11, 3, 12, 1, 3, 1, 12, 7, 12, 4, 12, 3, 13, 1, 13, 5, 13, 10, 13, 0, 14, 3, 14, 8, 14, 0, 8, 13, 14, 5, 14, 6, 15, 2, 15, 2, 6, 4, 15, 11, 15, 12, 15, 1, 16, 12, 16, 10, 16, 2, 16, 15, 16, 0, 17, 8, 17, 6, 17, 2, 17, 9, 17, 0, 3, 7, 5, 8, 9, 2, 9, 10, 5, 9, 10, 0, 6, 11, 0, 7, 11, 4, 7, 11, 1, 3, 12, 3, 7, 12, 4, 7, 12, 1, 3, 13, 5, 10, 13, 0, 3, 14, 0, 8, 14, 3, 13, 14, 5, 8, 14, 5, 13, 14, 2, 6, 15, 4, 11, 15, 4, 12, 15, 6, 11, 15, 1, 12, 16, 1, 10, 13, 2, 10, 16, 2, 15, 16, 12, 15, 16, 0, 8, 17, 0, 6, 17, 2, 6, 17, 2, 9, 17, 8, 9, 17, 5, 0, 0, 0, 0, 0, 8, 0, 0, 0, 12, 0, 3, 0, 1, 0, 1, 0, 15, 0, 1, 0, 30, 0, 3, 0, 2, 0, 2, 0, 23, 0, 29, 0, 2, 0, 11, 0, 3, 0, 4, 0, 5, 0, 20, 0, 4, 0, 27, 0, 4, 0, 5, 0, 6, 0, 9, 0, 6, 0, 6, 0, 18, 0, 8, 0, 7, 0, 10, 0, 7, 0, 7, 0, 21, 0, 9, 0, 8, 0, 19, 0, 9, 0, 10, 0, 14, 0, 22, 0, 10, 0, 16, 0, 11, 0, 11, 0, 22, 0, 12, 0, 13, 0, 14, 0, 12, 0, 13, 0, 15, 0, 13, 0, 26, 0, 16, 0, 14, 0, 15, 0, 16, 0, 17, 0, 20, 0, 24, 0, 17, 0, 17, 0, 28, 0, 18, 0, 19, 0, 20, 0, 18, 0, 19, 0, 25, 0, 21, 0, 22, 0, 25, 0, 21, 0, 22, 0, 23, 0, 23, 0, 24, 0, 24, 0, 25, 0, 26, 0, 27, 0, 30, 0, 26, 0, 27, 0, 28, 0, 28, 0, 29, 0, 29, 0, 30, 0, 0, 0, 0, 0, 127, 222, 236, 190, 160, 238, 194, 191, 196, 169, 180, 191, 216, 112, 117, 63, 2, 154, 20, 64, 174, 200, 59, 64, 139, 248, 176, 64, 217, 49, 136, 65, 106, 87, 30, 191, 125, 216, 84, 191, 106, 87, 30, 191, 244, 137, 50, 65, 54, 221, 218, 192, 125, 216, 84, 191, 54, 221, 218, 192, 213, 102, 217, 64, 252, 20, 108, 61, 201, 56, 43, 63, 174, 125, 129, 63, 0, 0, 128, 191, 0, 0, 128, 191, 25, 142, 219, 62, 55, 133, 125, 62, 55, 133, 125, 62, 243, 162, 94, 63] - float physxMeshCollision:concavity = 0.001 - } - } - } - - over "Finger_Right_01" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Right_01_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Finger_Right_01" - { - over "Finger_Right_01" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 72, 230, 232, 55, 58, 161, 149, 127, 190, 24, 19, 32, 109, 203, 24, 68, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 32, 0, 0, 0, 48, 128, 0, 0, 18, 0, 0, 0, 96, 0, 0, 0, 1, 184, 5, 63, 88, 196, 16, 62, 96, 234, 107, 62, 21, 170, 2, 63, 248, 62, 178, 190, 0, 95, 201, 61, 72, 213, 245, 189, 77, 42, 235, 191, 92, 27, 65, 64, 0, 180, 120, 189, 133, 158, 11, 192, 62, 241, 34, 64, 195, 113, 4, 63, 140, 91, 132, 190, 56, 135, 17, 190, 184, 252, 217, 189, 10, 146, 226, 191, 246, 252, 61, 64, 224, 182, 165, 189, 18, 123, 145, 63, 46, 100, 92, 63, 194, 113, 4, 63, 76, 135, 17, 62, 120, 91, 132, 62, 249, 115, 178, 190, 232, 104, 140, 63, 116, 246, 99, 63, 199, 93, 142, 190, 235, 146, 234, 191, 181, 236, 64, 64, 38, 220, 145, 190, 10, 137, 13, 192, 164, 118, 31, 64, 6, 17, 177, 190, 144, 154, 148, 63, 238, 19, 88, 63, 229, 214, 161, 190, 179, 126, 191, 63, 0, 130, 134, 190, 120, 37, 185, 189, 226, 164, 148, 63, 198, 207, 87, 63, 189, 112, 138, 190, 146, 180, 15, 192, 124, 134, 28, 64, 88, 252, 190, 189, 205, 64, 14, 192, 102, 48, 31, 64, 178, 42, 11, 62, 97, 88, 58, 191, 22, 84, 82, 191, 15, 6, 145, 190, 110, 184, 94, 191, 190, 156, 55, 191, 204, 213, 19, 62, 53, 208, 59, 191, 60, 208, 77, 191, 80, 202, 83, 61, 168, 30, 222, 190, 160, 108, 132, 191, 221, 17, 8, 63, 78, 195, 115, 62, 64, 175, 250, 189, 106, 5, 8, 63, 24, 4, 69, 62, 203, 98, 62, 190, 200, 22, 171, 189, 192, 31, 191, 63, 163, 155, 129, 190, 48, 35, 171, 189, 50, 230, 59, 63, 255, 100, 166, 191, 138, 103, 159, 189, 231, 166, 190, 63, 72, 190, 118, 190, 252, 1, 94, 60, 58, 203, 11, 63, 13, 241, 161, 191, 109, 55, 163, 190, 132, 226, 97, 63, 62, 246, 141, 191, 165, 89, 186, 190, 184, 31, 167, 190, 184, 18, 16, 191, 238, 181, 144, 190, 105, 11, 65, 63, 93, 85, 164, 191, 61, 217, 155, 190, 160, 43, 66, 191, 226, 75, 76, 191, 239, 181, 144, 190, 213, 3, 1, 191, 191, 142, 123, 191, 60, 4, 184, 190, 244, 21, 46, 191, 128, 8, 1, 191, 253, 152, 40, 59, 121, 70, 22, 63, 53, 64, 79, 63, 122, 149, 174, 191, 0, 0, 7, 19, 101, 217, 127, 63, 80, 90, 239, 188, 190, 136, 147, 60, 13, 165, 5, 191, 7, 0, 5, 12, 170, 48, 12, 189, 233, 29, 79, 191, 188, 52, 22, 63, 118, 178, 80, 192, 12, 0, 6, 12, 111, 48, 12, 61, 233, 29, 79, 63, 188, 52, 22, 191, 72, 70, 173, 191, 18, 0, 5, 14, 0, 145, 40, 187, 122, 70, 22, 191, 54, 64, 79, 191, 118, 201, 139, 191, 23, 0, 5, 6, 99, 217, 127, 191, 75, 90, 239, 60, 194, 136, 147, 188, 249, 139, 186, 190, 28, 0, 5, 4, 251, 96, 94, 63, 232, 155, 241, 190, 247, 101, 26, 190, 219, 195, 23, 191, 33, 0, 5, 11, 31, 87, 98, 63, 50, 114, 227, 62, 249, 56, 20, 62, 72, 215, 14, 191, 38, 0, 6, 14, 53, 91, 123, 63, 76, 19, 146, 189, 196, 228, 51, 62, 177, 18, 11, 191, 44, 0, 6, 26, 14, 129, 117, 191, 60, 201, 133, 190, 167, 184, 224, 189, 26, 226, 19, 191, 50, 0, 5, 0, 146, 214, 99, 63, 124, 21, 146, 189, 183, 149, 230, 190, 234, 250, 10, 191, 55, 0, 6, 9, 231, 57, 95, 63, 114, 142, 144, 62, 55, 195, 204, 62, 37, 58, 24, 191, 61, 0, 3, 29, 236, 239, 127, 191, 171, 189, 28, 188, 141, 174, 163, 60, 90, 37, 182, 190, 64, 0, 5, 21, 0, 0, 0, 0, 54, 4, 117, 63, 22, 93, 148, 62, 228, 136, 173, 191, 69, 0, 5, 14, 164, 178, 83, 62, 50, 157, 101, 191, 186, 31, 200, 190, 89, 69, 128, 191, 74, 0, 5, 11, 250, 40, 208, 189, 191, 50, 109, 190, 154, 172, 119, 191, 198, 78, 140, 191, 79, 0, 5, 2, 37, 23, 95, 63, 185, 74, 203, 62, 34, 113, 147, 190, 85, 204, 23, 191, 84, 0, 6, 10, 183, 233, 123, 191, 131, 189, 41, 189, 187, 60, 49, 190, 144, 44, 240, 190, 90, 0, 6, 0, 9, 2, 5, 6, 13, 11, 8, 20, 0, 1, 4, 21, 2, 9, 10, 14, 15, 3, 26, 12, 22, 23, 28, 19, 16, 17, 29, 30, 8, 11, 12, 26, 27, 18, 4, 1, 3, 15, 13, 6, 7, 0, 20, 24, 1, 0, 7, 5, 2, 3, 29, 17, 14, 10, 31, 21, 4, 18, 16, 19, 25, 6, 5, 7, 8, 27, 31, 10, 9, 12, 11, 13, 24, 22, 15, 14, 17, 16, 18, 28, 23, 25, 19, 30, 20, 21, 25, 23, 22, 24, 27, 26, 28, 30, 29, 31, 1, 8, 7, 8, 1, 7, 6, 8, 1, 6, 2, 8, 0, 8, 0, 2, 2, 6, 6, 10, 1, 10, 0, 11, 8, 11, 7, 11, 0, 7, 0, 12, 0, 5, 5, 12, 2, 12, 2, 9, 9, 12, 5, 13, 0, 13, 3, 13, 3, 5, 7, 13, 2, 14, 9, 14, 6, 14, 4, 14, 10, 14, 4, 10, 4, 9, 10, 15, 4, 15, 1, 16, 7, 16, 10, 16, 3, 16, 13, 16, 15, 16, 3, 15, 5, 17, 3, 17, 12, 17, 15, 17, 4, 17, 9, 17, 1, 7, 8, 1, 6, 8, 0, 2, 8, 2, 6, 8, 1, 6, 10, 0, 8, 11, 0, 7, 11, 7, 8, 11, 0, 5, 12, 0, 2, 12, 2, 9, 12, 0, 5, 13, 3, 5, 13, 0, 7, 13, 2, 9, 14, 2, 6, 14, 4, 10, 14, 4, 9, 14, 6, 10, 14, 4, 10, 15, 1, 7, 16, 1, 10, 16, 3, 13, 16, 3, 15, 16, 7, 13, 16, 10, 15, 16, 3, 5, 17, 5, 12, 17, 3, 15, 17, 4, 9, 17, 4, 15, 17, 9, 12, 17, 0, 0, 1, 0, 7, 0, 0, 0, 20, 0, 0, 0, 1, 0, 3, 0, 1, 0, 4, 0, 3, 0, 2, 0, 2, 0, 5, 0, 9, 0, 2, 0, 15, 0, 3, 0, 18, 0, 4, 0, 4, 0, 21, 0, 5, 0, 6, 0, 7, 0, 5, 0, 6, 0, 7, 0, 6, 0, 13, 0, 8, 0, 9, 0, 11, 0, 8, 0, 27, 0, 8, 0, 9, 0, 10, 0, 10, 0, 14, 0, 10, 0, 31, 0, 11, 0, 12, 0, 13, 0, 11, 0, 12, 0, 22, 0, 26, 0, 12, 0, 24, 0, 13, 0, 14, 0, 15, 0, 17, 0, 14, 0, 15, 0, 18, 0, 16, 0, 17, 0, 18, 0, 16, 0, 19, 0, 16, 0, 17, 0, 29, 0, 19, 0, 25, 0, 30, 0, 19, 0, 21, 0, 20, 0, 20, 0, 24, 0, 25, 0, 21, 0, 22, 0, 23, 0, 24, 0, 22, 0, 23, 0, 25, 0, 23, 0, 28, 0, 26, 0, 27, 0, 28, 0, 26, 0, 27, 0, 31, 0, 30, 0, 28, 0, 29, 0, 30, 0, 31, 0, 29, 0, 0, 0, 0, 0, 166, 89, 186, 190, 146, 180, 15, 192, 0, 101, 166, 191, 221, 17, 8, 63, 180, 126, 191, 63, 92, 27, 65, 64, 121, 204, 129, 64, 112, 117, 223, 64, 57, 169, 146, 189, 58, 72, 72, 62, 57, 169, 146, 189, 157, 28, 142, 64, 80, 242, 14, 64, 58, 72, 72, 62, 80, 242, 14, 64, 128, 80, 54, 64, 108, 33, 72, 189, 214, 101, 139, 190, 191, 35, 3, 63, 0, 0, 128, 191, 0, 0, 128, 191, 198, 143, 150, 62, 133, 218, 45, 62, 133, 218, 45, 62, 186, 134, 72, 63] - float physxMeshCollision:concavity = 0.001 - } - } - } - - over "Finger_Left_03" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Left_03" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 5, 239, 172, 107, 51, 4, 135, 51, 15, 172, 224, 79, 218, 221, 183, 110, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 32, 0, 0, 0, 48, 128, 0, 0, 18, 0, 0, 0, 96, 0, 0, 0, 224, 160, 57, 190, 72, 133, 204, 62, 64, 246, 21, 61, 196, 98, 214, 62, 72, 133, 204, 62, 64, 246, 21, 61, 224, 160, 57, 190, 116, 37, 30, 191, 161, 232, 162, 64, 223, 160, 57, 190, 216, 40, 208, 190, 228, 117, 154, 64, 195, 98, 214, 62, 216, 40, 208, 190, 228, 117, 154, 64, 196, 98, 214, 62, 116, 37, 30, 191, 161, 232, 162, 64, 223, 160, 57, 190, 88, 140, 141, 191, 64, 98, 212, 63, 195, 98, 214, 62, 88, 140, 141, 191, 64, 98, 212, 63, 224, 160, 57, 190, 132, 6, 155, 191, 100, 31, 70, 64, 196, 98, 214, 62, 132, 6, 155, 191, 100, 31, 70, 64, 223, 160, 57, 190, 11, 23, 170, 190, 28, 218, 115, 190, 195, 98, 214, 62, 11, 23, 170, 190, 28, 218, 115, 190, 224, 160, 57, 190, 223, 114, 156, 62, 102, 230, 140, 190, 224, 160, 57, 190, 208, 150, 250, 61, 80, 133, 204, 190, 196, 98, 214, 62, 208, 150, 250, 61, 80, 133, 204, 190, 196, 98, 214, 62, 223, 114, 156, 62, 102, 230, 140, 190, 223, 160, 57, 190, 230, 171, 141, 191, 160, 232, 162, 64, 224, 160, 57, 190, 112, 14, 146, 191, 194, 108, 160, 64, 195, 98, 214, 62, 230, 171, 141, 191, 160, 232, 162, 64, 196, 98, 214, 62, 112, 14, 146, 191, 194, 108, 160, 64, 224, 160, 57, 190, 136, 244, 134, 191, 136, 118, 179, 63, 224, 160, 57, 190, 88, 162, 139, 191, 204, 27, 198, 63, 196, 98, 214, 62, 88, 162, 139, 191, 204, 27, 198, 63, 196, 98, 214, 62, 136, 244, 134, 191, 136, 118, 179, 63, 224, 160, 57, 190, 112, 85, 152, 189, 80, 133, 204, 190, 224, 160, 57, 190, 200, 239, 89, 190, 36, 249, 176, 190, 196, 98, 214, 62, 200, 239, 89, 190, 36, 249, 176, 190, 196, 98, 214, 62, 112, 85, 152, 189, 80, 133, 204, 190, 224, 160, 57, 190, 72, 133, 204, 62, 224, 103, 74, 189, 223, 160, 57, 190, 89, 241, 191, 62, 16, 48, 21, 190, 196, 98, 214, 62, 72, 133, 204, 62, 224, 103, 74, 189, 195, 98, 214, 62, 89, 241, 191, 62, 16, 48, 21, 190, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 224, 160, 57, 190, 0, 0, 16, 1, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 128, 196, 98, 214, 190, 16, 0, 16, 0, 0, 0, 0, 128, 0, 0, 128, 63, 0, 0, 0, 0, 72, 133, 204, 190, 32, 0, 4, 8, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 80, 133, 204, 190, 36, 0, 4, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 161, 232, 162, 192, 40, 0, 4, 13, 0, 0, 0, 0, 135, 115, 124, 63, 27, 233, 41, 62, 192, 203, 204, 190, 44, 0, 4, 21, 0, 0, 0, 0, 17, 76, 106, 191, 23, 79, 206, 190, 209, 204, 204, 190, 48, 0, 4, 3, 0, 0, 0, 0, 194, 186, 125, 191, 10, 20, 8, 190, 124, 35, 96, 191, 52, 0, 4, 0, 0, 0, 0, 0, 186, 231, 71, 63, 32, 235, 31, 63, 167, 168, 44, 192, 56, 0, 4, 10, 0, 0, 0, 0, 126, 178, 97, 63, 81, 162, 241, 190, 41, 109, 204, 190, 60, 0, 4, 16, 0, 0, 0, 0, 164, 80, 127, 191, 34, 184, 149, 189, 66, 73, 123, 191, 64, 0, 4, 0, 0, 0, 0, 0, 75, 212, 127, 191, 32, 146, 21, 61, 56, 100, 169, 191, 68, 0, 4, 28, 0, 0, 0, 0, 222, 81, 43, 191, 150, 57, 62, 191, 39, 109, 204, 190, 72, 0, 4, 2, 0, 0, 0, 0, 152, 178, 15, 63, 146, 221, 83, 191, 41, 109, 204, 190, 76, 0, 4, 16, 0, 0, 0, 0, 125, 52, 106, 191, 20, 186, 206, 62, 178, 91, 68, 192, 80, 0, 4, 29, 0, 0, 0, 0, 37, 77, 120, 191, 157, 60, 121, 190, 186, 110, 46, 191, 84, 0, 4, 3, 0, 0, 0, 0, 97, 118, 185, 190, 87, 157, 110, 191, 41, 109, 204, 190, 88, 0, 4, 2, 0, 0, 0, 0, 88, 13, 120, 63, 28, 45, 125, 190, 41, 109, 204, 190, 92, 0, 4, 17, 16, 2, 3, 0, 28, 29, 12, 13, 24, 25, 10, 20, 21, 6, 8, 17, 30, 1, 4, 5, 18, 19, 9, 7, 22, 23, 11, 26, 27, 14, 15, 31, 1, 30, 28, 0, 24, 13, 14, 27, 18, 5, 2, 16, 0, 3, 4, 1, 20, 10, 11, 23, 6, 21, 22, 7, 3, 2, 5, 4, 12, 29, 31, 15, 8, 6, 7, 9, 17, 8, 9, 19, 10, 25, 26, 11, 13, 12, 15, 14, 16, 17, 19, 18, 21, 20, 23, 22, 25, 24, 27, 26, 29, 28, 30, 31, 2, 5, 0, 5, 0, 2, 1, 5, 1, 2, 0, 8, 4, 8, 0, 4, 5, 8, 1, 8, 1, 4, 7, 10, 0, 10, 0, 7, 1, 10, 1, 7, 10, 11, 0, 11, 1, 11, 6, 12, 0, 6, 0, 12, 1, 6, 1, 12, 0, 13, 9, 13, 0, 9, 3, 13, 0, 3, 1, 13, 1, 3, 1, 9, 0, 14, 4, 14, 11, 14, 1, 14, 0, 15, 6, 15, 7, 15, 1, 15, 0, 16, 3, 16, 12, 16, 1, 16, 0, 17, 2, 17, 9, 17, 1, 17, 0, 2, 5, 1, 2, 5, 0, 4, 8, 0, 5, 8, 1, 5, 8, 1, 4, 8, 0, 7, 10, 1, 7, 10, 0, 10, 11, 1, 10, 11, 0, 6, 12, 1, 6, 12, 0, 9, 13, 0, 3, 13, 1, 3, 13, 1, 9, 13, 0, 4, 14, 0, 11, 14, 1, 4, 14, 1, 11, 14, 0, 6, 15, 0, 7, 15, 1, 7, 15, 1, 6, 15, 0, 3, 16, 0, 12, 16, 1, 12, 16, 1, 3, 16, 0, 2, 17, 0, 9, 17, 1, 2, 17, 1, 9, 17, 0, 0, 1, 0, 3, 0, 0, 0, 0, 0, 28, 0, 1, 0, 4, 0, 30, 0, 1, 0, 2, 0, 3, 0, 5, 0, 2, 0, 16, 0, 2, 0, 3, 0, 4, 0, 4, 0, 5, 0, 5, 0, 18, 0, 7, 0, 6, 0, 6, 0, 8, 0, 21, 0, 6, 0, 9, 0, 7, 0, 7, 0, 22, 0, 9, 0, 8, 0, 8, 0, 17, 0, 19, 0, 9, 0, 10, 0, 11, 0, 10, 0, 20, 0, 25, 0, 10, 0, 23, 0, 11, 0, 11, 0, 26, 0, 12, 0, 13, 0, 15, 0, 12, 0, 29, 0, 12, 0, 13, 0, 14, 0, 13, 0, 24, 0, 14, 0, 15, 0, 27, 0, 14, 0, 15, 0, 31, 0, 17, 0, 16, 0, 16, 0, 18, 0, 19, 0, 17, 0, 18, 0, 19, 0, 20, 0, 21, 0, 23, 0, 20, 0, 21, 0, 22, 0, 22, 0, 23, 0, 24, 0, 25, 0, 27, 0, 24, 0, 25, 0, 26, 0, 26, 0, 27, 0, 28, 0, 29, 0, 30, 0, 28, 0, 29, 0, 31, 0, 31, 0, 30, 0, 0, 0, 0, 0, 224, 160, 57, 190, 132, 6, 155, 191, 80, 133, 204, 190, 196, 98, 214, 62, 72, 133, 204, 62, 161, 232, 162, 64, 37, 67, 81, 64, 189, 240, 202, 65, 99, 152, 71, 62, 62, 246, 99, 191, 99, 152, 71, 62, 140, 188, 193, 65, 26, 230, 153, 64, 62, 246, 99, 191, 26, 230, 153, 64, 227, 43, 184, 63, 167, 36, 243, 61, 233, 138, 0, 191, 170, 207, 18, 64, 0, 0, 128, 191, 0, 0, 128, 191, 154, 153, 153, 62, 173, 92, 49, 62, 173, 92, 49, 62, 122, 89, 224, 63] - float physxMeshCollision:concavity = 0.001 - } - } - - over "Finger_Right_03" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Right_03" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 77, 42, 214, 185, 151, 137, 200, 16, 34, 120, 135, 66, 246, 227, 11, 97, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 32, 0, 0, 0, 50, 128, 0, 0, 20, 0, 0, 0, 100, 0, 0, 0, 24, 39, 62, 190, 124, 69, 254, 62, 73, 154, 162, 64, 110, 105, 190, 62, 210, 206, 253, 62, 73, 154, 162, 64, 236, 0, 75, 63, 136, 38, 144, 190, 176, 111, 204, 190, 236, 0, 75, 63, 100, 26, 85, 190, 64, 240, 108, 60, 85, 140, 16, 63, 147, 106, 201, 190, 175, 111, 204, 190, 78, 146, 200, 62, 148, 106, 201, 190, 177, 125, 159, 61, 230, 149, 201, 62, 208, 129, 228, 62, 190, 181, 153, 64, 196, 58, 83, 190, 224, 199, 229, 62, 140, 251, 153, 64, 235, 0, 75, 63, 248, 151, 51, 62, 0, 61, 194, 61, 236, 0, 75, 63, 128, 81, 34, 62, 48, 88, 229, 62, 77, 107, 185, 62, 159, 145, 158, 63, 73, 154, 162, 64, 226, 149, 201, 62, 159, 145, 158, 63, 156, 107, 69, 64, 40, 28, 222, 62, 250, 218, 130, 63, 73, 154, 162, 64, 235, 0, 75, 63, 24, 53, 143, 61, 175, 111, 204, 190, 236, 0, 75, 63, 151, 178, 23, 62, 208, 163, 96, 190, 112, 34, 202, 62, 101, 39, 134, 62, 176, 111, 204, 190, 92, 161, 197, 62, 210, 72, 141, 63, 195, 122, 195, 63, 228, 149, 201, 62, 62, 103, 141, 63, 161, 217, 196, 63, 136, 21, 27, 191, 40, 5, 130, 61, 176, 111, 204, 190, 184, 58, 83, 190, 134, 52, 132, 62, 176, 111, 204, 190, 174, 58, 83, 190, 60, 103, 141, 63, 157, 217, 196, 63, 136, 21, 27, 191, 64, 42, 249, 61, 144, 249, 152, 62, 135, 21, 27, 191, 16, 58, 11, 62, 224, 7, 111, 190, 214, 208, 64, 190, 158, 145, 158, 63, 72, 154, 162, 64, 174, 58, 83, 190, 159, 145, 158, 63, 156, 107, 69, 64, 153, 3, 128, 190, 90, 254, 134, 63, 73, 154, 162, 64, 144, 101, 21, 191, 64, 208, 75, 62, 0, 53, 233, 189, 135, 21, 27, 191, 122, 28, 90, 190, 0, 183, 203, 189, 135, 21, 27, 191, 232, 177, 14, 190, 175, 111, 204, 190, 200, 217, 3, 62, 148, 106, 201, 190, 176, 111, 204, 190, 168, 58, 83, 190, 148, 106, 201, 190, 198, 76, 148, 61, 95, 121, 24, 191, 131, 99, 113, 190, 128, 92, 174, 188, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 191, 176, 111, 204, 190, 0, 0, 8, 0, 0, 0, 128, 63, 0, 0, 0, 0, 0, 0, 0, 128, 236, 0, 75, 191, 8, 0, 6, 18, 0, 0, 0, 0, 0, 0, 128, 191, 0, 0, 0, 0, 148, 106, 201, 190, 14, 0, 4, 10, 0, 0, 0, 128, 0, 0, 128, 63, 0, 0, 0, 0, 159, 145, 158, 191, 18, 0, 4, 5, 0, 0, 128, 191, 0, 0, 0, 0, 0, 0, 0, 0, 136, 21, 27, 191, 22, 0, 5, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 128, 63, 73, 154, 162, 192, 27, 0, 6, 2, 13, 139, 209, 186, 39, 13, 124, 191, 149, 38, 51, 62, 252, 246, 204, 190, 33, 0, 6, 16, 93, 33, 190, 187, 215, 147, 106, 63, 86, 2, 205, 190, 227, 156, 203, 190, 39, 0, 4, 1, 86, 37, 125, 191, 113, 121, 233, 189, 56, 50, 196, 61, 192, 33, 29, 191, 43, 0, 6, 13, 158, 4, 125, 63, 216, 249, 237, 189, 45, 70, 201, 61, 132, 49, 79, 191, 49, 0, 5, 18, 133, 32, 101, 63, 22, 129, 227, 62, 110, 203, 29, 189, 116, 181, 72, 191, 54, 0, 4, 31, 129, 70, 101, 191, 244, 232, 226, 62, 236, 97, 29, 189, 163, 128, 29, 191, 58, 0, 3, 2, 72, 106, 222, 62, 24, 9, 99, 191, 227, 46, 33, 62, 57, 4, 8, 191, 61, 0, 5, 20, 241, 133, 206, 190, 25, 163, 102, 191, 24, 238, 35, 62, 110, 255, 229, 190, 66, 0, 3, 17, 0, 0, 0, 0, 19, 11, 127, 63, 59, 229, 176, 189, 113, 190, 119, 191, 69, 0, 5, 5, 155, 1, 115, 63, 198, 220, 160, 62, 243, 241, 117, 60, 176, 43, 79, 191, 74, 0, 5, 27, 133, 38, 207, 62, 32, 179, 86, 63, 181, 173, 186, 190, 111, 106, 6, 191, 79, 0, 5, 0, 36, 203, 208, 190, 137, 48, 86, 63, 236, 48, 187, 190, 32, 109, 228, 190, 84, 0, 5, 1, 119, 184, 114, 191, 152, 179, 162, 62, 188, 230, 11, 60, 6, 151, 29, 191, 89, 0, 6, 2, 186, 2, 163, 190, 30, 172, 107, 191, 228, 144, 103, 190, 28, 170, 210, 190, 95, 0, 5, 10, 28, 18, 19, 15, 13, 2, 4, 29, 2, 13, 14, 8, 9, 3, 29, 4, 5, 30, 23, 10, 11, 24, 27, 21, 22, 18, 28, 10, 23, 25, 0, 1, 12, 30, 5, 6, 1, 0, 7, 15, 19, 20, 16, 21, 27, 31, 7, 0, 25, 3, 9, 12, 1, 6, 8, 14, 17, 11, 24, 20, 26, 2, 3, 6, 5, 4, 30, 7, 31, 24, 11, 17, 16, 20, 9, 8, 11, 10, 12, 14, 13, 15, 16, 17, 18, 22, 26, 20, 19, 22, 21, 25, 23, 24, 26, 27, 28, 29, 30, 31, 5, 6, 6, 8, 5, 8, 6, 9, 5, 9, 1, 12, 0, 12, 0, 1, 9, 12, 1, 9, 2, 12, 0, 2, 6, 12, 2, 6, 6, 13, 8, 13, 1, 15, 10, 15, 1, 10, 9, 15, 3, 15, 5, 15, 3, 5, 10, 14, 3, 14, 1, 16, 0, 16, 10, 16, 7, 16, 0, 7, 14, 16, 7, 14, 0, 17, 4, 17, 0, 4, 7, 17, 11, 14, 11, 17, 4, 18, 8, 18, 4, 8, 17, 18, 3, 18, 5, 18, 11, 18, 4, 19, 8, 19, 0, 19, 2, 19, 13, 19, 5, 6, 8, 5, 6, 9, 0, 1, 12, 1, 9, 12, 0, 2, 12, 2, 6, 12, 6, 9, 12, 6, 8, 13, 1, 10, 15, 1, 9, 15, 3, 5, 15, 3, 10, 14, 5, 9, 15, 0, 1, 16, 1, 10, 16, 0, 7, 16, 7, 14, 16, 10, 14, 16, 0, 4, 17, 0, 7, 17, 7, 11, 14, 4, 8, 18, 4, 17, 18, 3, 5, 18, 3, 11, 14, 5, 8, 18, 11, 17, 18, 4, 8, 19, 0, 4, 19, 0, 2, 19, 2, 6, 13, 8, 13, 19, 0, 0, 1, 0, 0, 0, 7, 0, 25, 0, 0, 0, 6, 0, 1, 0, 1, 0, 12, 0, 3, 0, 2, 0, 2, 0, 4, 0, 13, 0, 2, 0, 6, 0, 3, 0, 9, 0, 3, 0, 4, 0, 5, 0, 4, 0, 29, 0, 5, 0, 6, 0, 5, 0, 30, 0, 7, 0, 30, 0, 31, 0, 7, 0, 8, 0, 9, 0, 11, 0, 8, 0, 14, 0, 8, 0, 9, 0, 12, 0, 10, 0, 11, 0, 12, 0, 10, 0, 23, 0, 10, 0, 17, 0, 11, 0, 11, 0, 24, 0, 13, 0, 14, 0, 15, 0, 13, 0, 14, 0, 17, 0, 16, 0, 15, 0, 19, 0, 15, 0, 17, 0, 16, 0, 20, 0, 16, 0, 18, 0, 19, 0, 22, 0, 18, 0, 28, 0, 18, 0, 19, 0, 20, 0, 24, 0, 20, 0, 20, 0, 26, 0, 21, 0, 22, 0, 25, 0, 21, 0, 27, 0, 21, 0, 22, 0, 26, 0, 24, 0, 23, 0, 23, 0, 25, 0, 26, 0, 24, 0, 28, 0, 27, 0, 27, 0, 31, 0, 29, 0, 28, 0, 30, 0, 29, 0, 31, 0, 30, 0, 0, 0, 0, 0, 136, 21, 27, 191, 148, 106, 201, 190, 176, 111, 204, 190, 236, 0, 75, 63, 159, 145, 158, 63, 73, 154, 162, 64, 115, 124, 166, 64, 116, 225, 9, 66, 99, 122, 101, 190, 21, 147, 127, 191, 99, 122, 101, 190, 80, 112, 4, 66, 72, 206, 216, 192, 21, 147, 127, 191, 72, 206, 216, 192, 108, 122, 23, 64, 160, 205, 196, 61, 85, 219, 235, 62, 84, 221, 2, 64, 0, 0, 128, 191, 0, 0, 128, 191, 47, 26, 254, 62, 191, 180, 146, 62, 191, 180, 146, 62, 34, 93, 156, 63] - float physxMeshCollision:concavity = 0.001 - } - } - - over "Finger_Left_02" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Left_02" - { - over "Finger_Left_02" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 118, 205, 209, 40, 180, 154, 239, 18, 248, 114, 66, 185, 9, 117, 91, 110, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 32, 0, 0, 0, 50, 128, 0, 0, 20, 0, 0, 0, 100, 0, 0, 0, 60, 119, 19, 191, 26, 68, 236, 63, 191, 16, 49, 64, 174, 13, 19, 191, 2, 166, 223, 63, 45, 160, 45, 64, 63, 86, 135, 63, 138, 154, 6, 64, 46, 65, 35, 64, 252, 138, 131, 63, 43, 87, 162, 190, 214, 158, 36, 190, 1, 119, 134, 63, 162, 204, 252, 63, 204, 79, 19, 64, 33, 249, 131, 63, 219, 75, 162, 190, 48, 149, 190, 189, 208, 155, 143, 61, 146, 182, 0, 64, 42, 148, 14, 64, 32, 79, 116, 63, 107, 103, 7, 64, 39, 204, 34, 64, 172, 100, 30, 63, 239, 215, 0, 64, 118, 163, 15, 64, 157, 160, 220, 190, 59, 99, 133, 190, 102, 55, 27, 62, 153, 48, 169, 190, 157, 87, 188, 63, 203, 97, 36, 64, 221, 243, 108, 63, 107, 30, 160, 190, 32, 235, 150, 188, 38, 225, 20, 191, 39, 47, 245, 63, 12, 218, 45, 64, 86, 87, 245, 190, 27, 14, 1, 64, 97, 235, 18, 64, 0, 235, 210, 190, 80, 111, 3, 64, 137, 191, 21, 64, 208, 231, 131, 190, 210, 57, 8, 64, 62, 160, 35, 64, 230, 176, 128, 63, 152, 82, 19, 189, 169, 9, 186, 190, 170, 94, 128, 63, 120, 173, 241, 61, 151, 253, 142, 190, 204, 54, 195, 190, 230, 244, 119, 62, 160, 90, 53, 190, 214, 54, 195, 190, 96, 169, 48, 189, 154, 95, 170, 190, 134, 180, 92, 63, 46, 10, 41, 62, 24, 12, 128, 190, 140, 171, 136, 63, 2, 99, 252, 63, 225, 80, 41, 64, 98, 238, 137, 63, 2, 205, 203, 63, 67, 197, 32, 64, 188, 155, 78, 63, 67, 59, 230, 63, 34, 159, 49, 64, 86, 180, 92, 63, 242, 143, 205, 63, 164, 250, 42, 64, 4, 18, 23, 191, 3, 107, 246, 63, 252, 94, 35, 64, 50, 183, 25, 191, 128, 245, 45, 63, 16, 201, 160, 63, 1, 104, 17, 191, 248, 32, 194, 189, 44, 133, 149, 190, 162, 142, 21, 191, 169, 237, 130, 190, 224, 186, 51, 190, 245, 2, 24, 191, 91, 113, 130, 190, 192, 97, 13, 60, 27, 255, 14, 191, 72, 1, 51, 62, 208, 246, 23, 190, 169, 228, 18, 191, 230, 214, 250, 63, 159, 22, 18, 64, 176, 113, 127, 63, 120, 138, 49, 61, 242, 35, 75, 189, 197, 132, 130, 191, 0, 0, 8, 26, 176, 113, 127, 191, 137, 138, 49, 189, 6, 36, 75, 61, 49, 202, 33, 191, 8, 0, 5, 3, 184, 106, 131, 189, 96, 65, 79, 63, 177, 94, 21, 191, 104, 206, 165, 190, 13, 0, 4, 24, 170, 122, 115, 188, 55, 220, 21, 191, 112, 132, 79, 191, 111, 239, 153, 190, 17, 0, 5, 23, 162, 122, 115, 60, 56, 220, 21, 63, 111, 132, 79, 63, 84, 35, 84, 192, 22, 0, 7, 3, 62, 1, 117, 60, 15, 218, 77, 63, 173, 35, 24, 191, 103, 169, 150, 190, 29, 0, 4, 10, 4, 176, 247, 190, 22, 166, 51, 191, 104, 226, 5, 63, 200, 236, 240, 190, 33, 0, 5, 17, 218, 226, 178, 188, 96, 45, 245, 190, 159, 171, 96, 63, 96, 67, 199, 191, 38, 0, 5, 16, 46, 208, 157, 190, 183, 75, 233, 62, 92, 200, 85, 191, 172, 98, 192, 190, 43, 0, 4, 24, 197, 177, 13, 62, 97, 11, 97, 63, 77, 140, 233, 190, 228, 227, 84, 191, 47, 0, 4, 9, 50, 221, 190, 190, 197, 49, 63, 63, 33, 249, 12, 191, 182, 76, 215, 190, 51, 0, 4, 22, 82, 232, 27, 189, 46, 208, 127, 191, 157, 101, 79, 59, 8, 239, 141, 190, 55, 0, 6, 7, 41, 114, 23, 62, 247, 47, 77, 63, 127, 83, 20, 191, 158, 55, 207, 190, 61, 0, 4, 9, 145, 243, 182, 62, 76, 161, 65, 191, 13, 69, 12, 63, 198, 163, 14, 191, 65, 0, 4, 13, 238, 12, 212, 59, 64, 157, 113, 63, 30, 47, 169, 190, 178, 202, 148, 191, 69, 0, 5, 9, 118, 255, 41, 61, 4, 30, 80, 191, 7, 178, 20, 63, 28, 92, 144, 190, 74, 0, 4, 6, 24, 92, 5, 191, 153, 159, 89, 63, 2, 60, 158, 61, 53, 9, 9, 192, 78, 0, 6, 3, 112, 226, 178, 188, 97, 45, 245, 62, 157, 171, 96, 191, 13, 54, 143, 190, 84, 0, 5, 24, 82, 68, 16, 63, 126, 170, 133, 190, 217, 163, 72, 63, 40, 68, 10, 192, 89, 0, 4, 27, 211, 37, 127, 191, 220, 60, 128, 61, 204, 221, 85, 189, 101, 78, 19, 191, 93, 0, 7, 22, 2, 21, 22, 5, 3, 16, 17, 4, 0, 12, 25, 26, 1, 6, 18, 13, 14, 27, 19, 16, 3, 28, 21, 2, 7, 15, 12, 0, 23, 18, 6, 8, 20, 1, 26, 29, 9, 10, 0, 1, 10, 24, 23, 30, 18, 19, 27, 2, 4, 8, 7, 31, 13, 18, 30, 28, 3, 5, 11, 9, 29, 4, 17, 20, 8, 5, 22, 24, 11, 15, 7, 8, 6, 14, 10, 9, 11, 24, 25, 12, 15, 14, 13, 31, 17, 16, 19, 18, 20, 22, 21, 23, 24, 26, 25, 31, 30, 27, 28, 29, 1, 7, 1, 4, 4, 7, 6, 7, 1, 6, 0, 9, 4, 9, 0, 4, 0, 11, 0, 3, 3, 11, 9, 12, 0, 12, 11, 13, 0, 13, 5, 14, 2, 14, 2, 5, 9, 14, 4, 14, 5, 12, 6, 15, 11, 15, 6, 11, 7, 15, 13, 15, 4, 16, 1, 16, 2, 16, 2, 10, 10, 16, 14, 16, 0, 17, 3, 17, 12, 17, 8, 17, 5, 17, 8, 10, 3, 8, 0, 18, 4, 18, 13, 18, 7, 18, 1, 19, 16, 19, 6, 19, 3, 19, 8, 19, 11, 19, 10, 19, 1, 4, 7, 1, 6, 7, 0, 4, 9, 0, 3, 11, 0, 9, 12, 0, 11, 13, 2, 5, 14, 4, 9, 14, 5, 9, 12, 6, 11, 15, 6, 7, 15, 11, 13, 15, 1, 4, 16, 2, 10, 16, 2, 14, 16, 4, 14, 16, 0, 3, 17, 0, 12, 17, 2, 5, 8, 3, 8, 17, 5, 12, 17, 0, 4, 18, 0, 13, 18, 4, 7, 18, 7, 13, 15, 1, 16, 19, 1, 6, 19, 3, 8, 19, 3, 11, 19, 6, 11, 19, 8, 10, 19, 10, 16, 19, 1, 0, 0, 0, 0, 0, 12, 0, 0, 0, 23, 0, 10, 0, 1, 0, 26, 0, 1, 0, 4, 0, 2, 0, 2, 0, 7, 0, 2, 0, 21, 0, 5, 0, 3, 0, 3, 0, 16, 0, 3, 0, 28, 0, 4, 0, 8, 0, 17, 0, 4, 0, 5, 0, 11, 0, 22, 0, 5, 0, 6, 0, 8, 0, 14, 0, 6, 0, 6, 0, 18, 0, 8, 0, 7, 0, 7, 0, 15, 0, 8, 0, 20, 0, 9, 0, 10, 0, 11, 0, 9, 0, 29, 0, 9, 0, 10, 0, 24, 0, 24, 0, 11, 0, 15, 0, 12, 0, 12, 0, 25, 0, 13, 0, 14, 0, 18, 0, 13, 0, 31, 0, 13, 0, 14, 0, 15, 0, 16, 0, 17, 0, 19, 0, 16, 0, 17, 0, 20, 0, 18, 0, 19, 0, 20, 0, 18, 0, 30, 0, 18, 0, 27, 0, 19, 0, 21, 0, 22, 0, 23, 0, 21, 0, 22, 0, 24, 0, 24, 0, 23, 0, 25, 0, 26, 0, 31, 0, 25, 0, 26, 0, 29, 0, 28, 0, 27, 0, 27, 0, 30, 0, 29, 0, 28, 0, 30, 0, 31, 0, 0, 0, 0, 0, 50, 183, 25, 191, 42, 87, 162, 190, 168, 9, 186, 190, 98, 238, 137, 63, 210, 57, 8, 64, 34, 159, 49, 64, 10, 22, 78, 64, 73, 227, 45, 65, 144, 18, 40, 191, 230, 40, 98, 191, 144, 18, 40, 191, 180, 11, 252, 64, 69, 57, 163, 192, 230, 40, 98, 191, 69, 57, 163, 192, 184, 199, 148, 64, 65, 119, 99, 62, 227, 225, 102, 63, 66, 56, 157, 63, 0, 0, 128, 191, 0, 0, 128, 191, 126, 193, 149, 62, 83, 236, 44, 62, 83, 236, 44, 62, 90, 162, 130, 62] - float physxMeshCollision:concavity = 0.001 - } - } - } - - over "Finger_Right_02" ( - prepend apiSchemas = ["PhysxRigidBodyAPI"] - ) - { - float physxRigidBody:maxAngularVelocity = 10 - float physxRigidBody:maxContactImpulse = 10 - float physxRigidBody:maxDepenetrationVelocity = 0.099999994 - float physxRigidBody:maxLinearVelocity = 0.099999994 ( - allowedTokens = [] - ) - float physxRigidBody:sleepThreshold = 5e-7 - float physxRigidBody:stabilizationThreshold = 1e-9 - - over "Finger_Right_02" - { - over "Finger_Right_02" ( - prepend apiSchemas = ["PhysxConvexHullCollisionAPI", "PhysxCookedDataAPI:convexHull"] - ) - { - int physxConvexHullCollision:hullVertexLimit = 32 - float physxConvexHullCollision:minThickness = 0.000010000001 ( - displayGroup = "Advanced" - ) - uchar[] physxCookedData:convexHull:buffer = [9, 168, 88, 174, 20, 67, 58, 174, 120, 176, 63, 27, 135, 15, 75, 148, 177, 78, 88, 83, 1, 67, 86, 88, 77, 14, 0, 0, 0, 0, 0, 0, 0, 73, 67, 69, 1, 67, 76, 72, 76, 9, 0, 0, 0, 31, 0, 0, 0, 47, 128, 0, 0, 18, 0, 0, 0, 94, 0, 0, 0, 62, 210, 129, 63, 120, 7, 128, 190, 122, 218, 95, 62, 129, 230, 17, 191, 99, 137, 251, 63, 102, 148, 43, 192, 248, 45, 28, 191, 0, 164, 161, 188, 128, 123, 143, 190, 111, 84, 5, 191, 251, 45, 163, 63, 88, 134, 170, 191, 156, 15, 7, 191, 169, 69, 8, 64, 61, 240, 35, 192, 63, 155, 27, 191, 213, 174, 159, 190, 188, 217, 14, 62, 218, 120, 17, 63, 202, 225, 114, 190, 128, 145, 95, 190, 126, 224, 13, 191, 158, 10, 172, 190, 8, 88, 252, 61, 144, 41, 69, 63, 155, 100, 179, 190, 189, 95, 16, 62, 217, 54, 195, 190, 44, 192, 122, 190, 156, 120, 49, 190, 88, 193, 137, 63, 94, 192, 239, 63, 111, 152, 45, 192, 192, 21, 30, 63, 61, 15, 216, 63, 160, 197, 54, 192, 25, 220, 131, 63, 249, 54, 67, 190, 248, 94, 9, 190, 171, 141, 138, 63, 191, 7, 199, 63, 199, 112, 36, 192, 104, 35, 47, 63, 25, 149, 123, 190, 24, 40, 70, 190, 246, 220, 77, 63, 155, 133, 202, 63, 85, 240, 45, 192, 208, 191, 88, 63, 207, 255, 144, 190, 80, 153, 156, 189, 2, 173, 128, 63, 164, 210, 14, 190, 251, 180, 152, 62, 57, 84, 127, 63, 204, 64, 121, 62, 152, 218, 8, 62, 214, 224, 136, 63, 128, 150, 250, 63, 95, 177, 41, 192, 7, 141, 134, 63, 8, 136, 244, 63, 148, 255, 16, 192, 248, 44, 43, 63, 0, 24, 7, 64, 144, 41, 35, 192, 44, 254, 192, 189, 236, 36, 102, 62, 56, 198, 49, 62, 174, 215, 4, 191, 108, 233, 62, 62, 24, 98, 55, 62, 179, 231, 57, 63, 0, 102, 136, 188, 3, 19, 195, 62, 54, 198, 9, 191, 80, 140, 43, 189, 185, 253, 171, 62, 237, 220, 77, 63, 132, 137, 26, 62, 244, 193, 137, 62, 136, 201, 15, 191, 247, 122, 238, 63, 35, 72, 48, 192, 116, 70, 14, 191, 150, 139, 200, 63, 58, 223, 39, 192, 128, 10, 119, 189, 217, 114, 218, 63, 210, 212, 54, 192, 213, 38, 7, 191, 220, 92, 198, 63, 146, 254, 39, 192, 106, 105, 127, 63, 21, 107, 48, 61, 2, 54, 86, 61, 150, 155, 129, 191, 0, 0, 8, 27, 108, 105, 127, 191, 46, 107, 48, 189, 13, 54, 86, 189, 73, 202, 31, 191, 8, 0, 4, 20, 130, 49, 134, 61, 132, 71, 79, 191, 75, 76, 21, 191, 184, 149, 182, 190, 12, 0, 3, 22, 132, 49, 134, 189, 131, 71, 79, 63, 77, 76, 21, 63, 16, 44, 148, 190, 15, 0, 3, 15, 237, 28, 141, 60, 15, 213, 21, 63, 138, 134, 79, 191, 122, 18, 84, 192, 18, 0, 8, 0, 14, 29, 141, 188, 10, 213, 21, 191, 142, 134, 79, 63, 153, 184, 156, 190, 26, 0, 7, 19, 100, 150, 224, 59, 105, 54, 82, 63, 51, 24, 18, 63, 220, 226, 144, 190, 33, 0, 7, 6, 192, 128, 175, 188, 237, 173, 78, 191, 76, 246, 22, 191, 218, 186, 157, 190, 40, 0, 6, 26, 113, 74, 244, 190, 14, 246, 56, 191, 222, 21, 0, 191, 209, 31, 228, 190, 46, 0, 6, 20, 12, 80, 211, 62, 212, 172, 102, 191, 59, 86, 8, 190, 252, 99, 29, 191, 52, 0, 4, 4, 185, 154, 122, 191, 229, 25, 41, 62, 221, 22, 246, 61, 229, 110, 15, 191, 56, 0, 7, 13, 14, 127, 208, 187, 145, 109, 116, 191, 111, 41, 152, 190, 79, 82, 147, 190, 63, 0, 6, 4, 226, 147, 209, 62, 150, 37, 188, 190, 215, 201, 85, 191, 47, 29, 1, 192, 69, 0, 4, 25, 153, 161, 100, 62, 69, 101, 75, 191, 206, 144, 16, 191, 188, 25, 234, 190, 73, 0, 5, 3, 215, 147, 209, 62, 163, 37, 188, 62, 213, 201, 85, 63, 21, 252, 27, 191, 78, 0, 4, 27, 240, 237, 195, 62, 94, 39, 106, 63, 86, 82, 5, 62, 123, 101, 237, 191, 82, 0, 3, 7, 93, 124, 38, 189, 83, 108, 17, 63, 129, 109, 82, 63, 128, 100, 140, 190, 85, 0, 5, 11, 237, 129, 153, 190, 113, 136, 200, 190, 4, 177, 94, 191, 107, 215, 234, 191, 90, 0, 4, 24, 17, 0, 12, 13, 10, 19, 20, 18, 1, 27, 28, 2, 14, 6, 15, 22, 3, 23, 27, 1, 4, 21, 19, 10, 11, 29, 0, 17, 24, 25, 5, 7, 8, 3, 22, 26, 18, 20, 21, 4, 29, 11, 15, 6, 9, 30, 2, 28, 30, 9, 7, 5, 12, 0, 8, 16, 1, 2, 5, 25, 23, 3, 4, 6, 14, 16, 8, 7, 9, 10, 13, 15, 11, 13, 12, 16, 14, 15, 17, 18, 26, 24, 20, 19, 21, 22, 23, 25, 24, 26, 28, 27, 29, 30, 5, 9, 0, 9, 0, 5, 1, 10, 4, 10, 1, 4, 8, 10, 1, 8, 6, 10, 3, 6, 3, 10, 4, 6, 5, 8, 5, 10, 7, 11, 2, 11, 2, 7, 5, 11, 8, 11, 9, 11, 7, 8, 4, 12, 0, 12, 0, 4, 7, 12, 4, 7, 0, 13, 9, 13, 12, 13, 2, 13, 11, 13, 0, 14, 5, 14, 0, 6, 6, 14, 0, 15, 4, 15, 6, 15, 3, 16, 6, 16, 10, 16, 5, 16, 14, 16, 1, 17, 4, 17, 8, 17, 7, 17, 0, 5, 9, 1, 4, 10, 1, 8, 10, 3, 6, 10, 4, 6, 10, 5, 8, 10, 2, 7, 11, 5, 8, 11, 5, 9, 11, 7, 8, 11, 0, 4, 12, 4, 7, 12, 0, 9, 13, 0, 12, 13, 2, 11, 13, 2, 7, 12, 9, 11, 13, 0, 5, 14, 0, 6, 14, 0, 4, 15, 0, 6, 15, 4, 6, 15, 3, 6, 16, 3, 10, 16, 5, 14, 16, 5, 10, 16, 6, 14, 16, 1, 4, 17, 1, 8, 17, 4, 7, 17, 7, 8, 17, 8, 0, 0, 0, 0, 0, 12, 0, 17, 0, 0, 0, 2, 0, 1, 0, 1, 0, 4, 0, 1, 0, 27, 0, 5, 0, 2, 0, 28, 0, 2, 0, 4, 0, 3, 0, 22, 0, 3, 0, 3, 0, 23, 0, 4, 0, 21, 0, 5, 0, 7, 0, 25, 0, 5, 0, 6, 0, 9, 0, 14, 0, 6, 0, 6, 0, 15, 0, 7, 0, 8, 0, 9, 0, 7, 0, 8, 0, 16, 0, 9, 0, 30, 0, 10, 0, 11, 0, 13, 0, 10, 0, 10, 0, 19, 0, 11, 0, 15, 0, 11, 0, 29, 0, 12, 0, 13, 0, 16, 0, 12, 0, 13, 0, 15, 0, 15, 0, 14, 0, 14, 0, 16, 0, 18, 0, 17, 0, 17, 0, 24, 0, 20, 0, 18, 0, 26, 0, 18, 0, 19, 0, 20, 0, 21, 0, 19, 0, 20, 0, 21, 0, 23, 0, 22, 0, 22, 0, 26, 0, 25, 0, 23, 0, 24, 0, 25, 0, 26, 0, 24, 0, 27, 0, 28, 0, 29, 0, 27, 0, 28, 0, 30, 0, 30, 0, 29, 0, 0, 0, 0, 0, 248, 45, 28, 191, 154, 100, 179, 190, 210, 212, 54, 192, 171, 141, 138, 63, 169, 69, 8, 64, 0, 19, 195, 62, 160, 130, 71, 64, 207, 182, 36, 65, 249, 76, 35, 191, 196, 169, 105, 63, 249, 76, 35, 191, 83, 223, 245, 64, 128, 182, 152, 64, 196, 169, 105, 63, 128, 182, 152, 64, 245, 21, 136, 64, 93, 13, 114, 62, 73, 232, 90, 63, 231, 121, 156, 191, 0, 0, 128, 191, 0, 0, 128, 191, 158, 189, 141, 62, 6, 171, 35, 62, 6, 171, 35, 62, 124, 163, 129, 62] - float physxMeshCollision:concavity = 0.001 - } - } - } - - over "Finger_Left_02_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Finger_Left_03_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Finger_Right_02_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - - over "Finger_Right_03_RevoluteJoint" ( - prepend apiSchemas = ["PhysicsJointStateAPI:angular"] - ) - { - } - } -} - diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 0be56dc535252288f3ca50ed24ede34f4e7c2bbd..3d563fde1dbd41ef9ef0caf1a90a974e7731b10a 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:19", + "timestamp": "2026-11-03T23:37:10", "assets": [ { "asset": "NEX10.usda", diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 0c786f6edc3f15d5ef908c002f1f5b718195598b..2bc5a3a9d9496c38e715535af5d9f7781f578db4 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:21", + "timestamp": "2026-11-03T23:37:12", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json index 09f4de7f36f91137a257963d846b651fd67fb44e..04b78c582b1e36ec7066aaa3723d9530eeb738ec 100644 --- a/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex10/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nex10/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nex10/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NEX10.usda.png", diff --git a/yaskawa_motoman_next_nex10/.metadata/NEX10_benchmark.json b/yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nex10/.metadata/NEX10_benchmark.json rename to yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_benchmark.json index f4c92127f1048e5950fa12c424edd9f2904f54b9..cb5d4291589bca93c36b4692542e3fb2a57e18c7 100644 --- a/yaskawa_motoman_next_nex10/.metadata/NEX10_benchmark.json +++ b/yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NEX10", + "asset": "yaskawa_motoman_next_nex10", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nex10/.metadata/NEX10_validation.json b/yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_validation.json similarity index 97% rename from yaskawa_motoman_next_nex10/.metadata/NEX10_validation.json rename to yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_validation.json index afc0b6a6f7f0cb9aea6e48dc5de73329f24b0058..c7e849660d2d1e842636494e9af6bd7966dc7994 100644 --- a/yaskawa_motoman_next_nex10/.metadata/NEX10_validation.json +++ b/yaskawa_motoman_next_nex10/.metadata/yaskawa_motoman_next_nex10_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json index 39f02b11d96da794b4ee9569dc7405d677e0780e..29d7ec78e4ea9ecbd7dfb906cc756c303fa60f3b 100644 --- a/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex10/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex10.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex10.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NEX10_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "d2e467fbc3da8837a92030bac3dc0563b35ae70e0f9cb0e1cac939ee1d577825" + "sha256": "0f2edf4b16def936829e42f81c4117218c1e43cc7775dcc18d658aa4a1f05ff5" } }, { - "name": "NEX10_validation.json", + "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "33233740c013ca68ed113802731e0ad2fef5bbd3845ee05359827101d4e292f2" + "sha256": "2b1e7d47c16a037e8dcbf016c04f6c0a5763cd154c220b2f0487d91c07bada03" } }, { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "name": "com.nvidia.simready.root_usds.json", "hash": { - "sha256": "2f6b614d76f4069bb1ea85be75bf175c2b47164d1e6c38410c481c4f1ac1bb2c" + "sha256": "d1ea3596db3a27adf54de8494258cffb5c01a53c145572278a7ae7a0d72ed28e" } }, { - "name": "com.nvidia.simready.packaging.bom.json", + "name": "license.txt", "hash": { - "sha256": "88589918d26e6be5a87306a4ec01a3590d0f884bbb2872cafce24035f5777049" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } }, { - "name": "com.nvidia.simready.root_usds.json", + "name": "yaskawa_motoman_next_nex10_benchmark.json", "hash": { - "sha256": "d1ea3596db3a27adf54de8494258cffb5c01a53c145572278a7ae7a0d72ed28e" + "sha256": "112cdb18de2b58b7d48d31d2a9cffe23f2df7c8e04abc0a9ab0b8b1e7c9b6d84" } }, { - "name": "license.txt", + "name": "yaskawa_motoman_next_nex10_validation.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d9770ea0198d2266da1ccbd9e2031e151b132d6b5f62868dc974123f00c21bf9" } } ], @@ -44,6 +44,6 @@ "sha256": "aac00bc6d435508d03b607cb6429516dbe68e8b1ef876359bc7b9464e6936c3c" }, "package_hash": { - "sha256": "76f986c83ee751c565f3cef8b0085640e29a79ea55010eaf0258ab42df7e61ea" + "sha256": "5694566433b3247ccea2d1767d24c5cdd970b61dab76e3158baa501b165e7b46" } } diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 6403a7d88303eaf7143694bef4a0f2e5249eb297..aad86357ddaae3d1f1719933f3bae5c73ab1088a 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:22", + "timestamp": "2026-11-03T23:37:13", "assets": [ { "asset": "NEX20.usda", diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index da4548c3d01fbb00734890ac12e597231bd6e191..9819dee3577f95f32f4d4274539af3362370ab1d 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:25", + "timestamp": "2026-11-03T23:37:15", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json index 99d786e2ac6ba1e8a5985c71a2bcb1aebbd7d3e1..d1cb44dc18253a940d3a0347e49090db57b60e35 100644 --- a/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex20/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nex20/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nex20/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NEX20.usda.png", diff --git a/yaskawa_motoman_next_nex20/.metadata/NEX20_benchmark.json b/yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nex20/.metadata/NEX20_benchmark.json rename to yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_benchmark.json index 8d9f7c27e466fd3d95b190070fed86a06a44d183..0214680127501707890e5e33ba45e208f8eec145 100644 --- a/yaskawa_motoman_next_nex20/.metadata/NEX20_benchmark.json +++ b/yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NEX20", + "asset": "yaskawa_motoman_next_nex20", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nex20/.metadata/NEX20_validation.json b/yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_validation.json similarity index 97% rename from yaskawa_motoman_next_nex20/.metadata/NEX20_validation.json rename to yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_validation.json index 3294ca791143bdf87bf2cfbaa830783687e12db1..bb90a737a5d02503e114f0f51c43a8132c86c675 100644 --- a/yaskawa_motoman_next_nex20/.metadata/NEX20_validation.json +++ b/yaskawa_motoman_next_nex20/.metadata/yaskawa_motoman_next_nex20_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json index f1c9d1fac92ca6d6a9830d55989961cbeaaa3a81..63c472f928c7880f2b261685086b0a42eefdb3eb 100644 --- a/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex20/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex20.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex20.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NEX20_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "508509b35cf4e1e557e611533251466455f55df40d3f8604f271f7b1da44003f" + "sha256": "ce9aba049b76653c5a4d65d483b0d2c36f0fac2a57cb29c0ccc9efae40190aa2" } }, { - "name": "NEX20_validation.json", + "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "86f4ba3e02c7f99ca20c471c6ee33859d313d67977b38de4deed22cd934eb00c" + "sha256": "398c2ef56b8cc67bc7d8a9a6c4798809d9635762c1b83846e2fc4f5f8c39f95e" } }, { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "name": "com.nvidia.simready.root_usds.json", "hash": { - "sha256": "90c093737ef368d9c2676d214d71f5773fb47ef0ad4e1a9a3492a473c9e3d34e" + "sha256": "624b044263dc7ffe55716f3f811ca8a7755d56e4aa9163133ee14b0c7a029c90" } }, { - "name": "com.nvidia.simready.packaging.bom.json", + "name": "license.txt", "hash": { - "sha256": "09f1fc5403c4f897c2e69de6769a7acbc7c95f49757beea03754ebccbea85f30" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } }, { - "name": "com.nvidia.simready.root_usds.json", + "name": "yaskawa_motoman_next_nex20_benchmark.json", "hash": { - "sha256": "624b044263dc7ffe55716f3f811ca8a7755d56e4aa9163133ee14b0c7a029c90" + "sha256": "c4c9b39ca5c49957642de5933039a0f31c228f937299eea5f9b694d1d2d6d06e" } }, { - "name": "license.txt", + "name": "yaskawa_motoman_next_nex20_validation.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "4972d1c417661992254b6bcea39a50ce77e47eca1ec255074b37b32310c15518" } } ], @@ -44,6 +44,6 @@ "sha256": "8b43663f75c9c40fdf646006811380ed2ad9c58c8229f082745b93be9eb3f109" }, "package_hash": { - "sha256": "dcd5bd6ead9f4f42a6732e5ecf3af39c6470729be338d5331acdc4dbef9a678f" + "sha256": "17b42160eb424055a8a97d7d47cfc2714c3a4c9a16ec683fba9ddbd945ec8513" } } diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index 9b8204ae1b0d59b554881192b159cba02147cf71..c3d2b31874fc149398487e53654969d4073bf3df 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:26", + "timestamp": "2026-11-03T23:37:16", "assets": [ { "asset": "NEX35.usda", diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 40eb916355caac1baa3f4288f18066b145c6b454..83c63e8a5e67abdc629a4e3213f023dbb0d8866e 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:29", + "timestamp": "2026-11-03T23:37:18", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json index 6a1a968828fc31301b437e2ef4278fafbb02eba8..e1c6a361446f58b0116eb5c90f63de6c97766f84 100644 --- a/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex35/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nex35/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nex35/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NEX35.usda.png", diff --git a/yaskawa_motoman_next_nex35/.metadata/NEX35_benchmark.json b/yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nex35/.metadata/NEX35_benchmark.json rename to yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_benchmark.json index 186dc3e46ddebf925aab3daf8e7b33644c6bec52..335b1d0d5271d4ddc559484e15c40d5c4f9930b5 100644 --- a/yaskawa_motoman_next_nex35/.metadata/NEX35_benchmark.json +++ b/yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NEX35", + "asset": "yaskawa_motoman_next_nex35", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nex35/.metadata/NEX35_validation.json b/yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_validation.json similarity index 97% rename from yaskawa_motoman_next_nex35/.metadata/NEX35_validation.json rename to yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_validation.json index 758a555429b1179b22a03c145d57e77d899b6cbc..60981de4284d8a517193415be19ca9cd69299ce0 100644 --- a/yaskawa_motoman_next_nex35/.metadata/NEX35_validation.json +++ b/yaskawa_motoman_next_nex35/.metadata/yaskawa_motoman_next_nex35_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json index 8f5b024ea8d46c77e2b5c6e1cf93571ad827b6bc..3e8f9d8af8e49bbbd564a483944f43a540d8bb8b 100644 --- a/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex35/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex35.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex35.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NEX35_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "23817d3e72084be12ce91d604fa3550822fee1dff3faeac2573f42c977d78d34" + "sha256": "5584b78fe9a979c2d0d11990048f19489ee7caae3889f838c7ea4d2c4761eefa" } }, { - "name": "NEX35_validation.json", + "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "eab2df35ecf135e083bf53c6e3610d5faf666344bf879988599c547d149917be" + "sha256": "01219e3b6ee9b38d4fafae45554e1c382ec65ebb1f446a353d3c776b33bead50" } }, { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "name": "com.nvidia.simready.root_usds.json", "hash": { - "sha256": "19dc305d39f5e330fbe123b111c94e2b35a8ec232e09a4ff72c3a90459280140" + "sha256": "0fdddcf912f988914d1242897418317a640d6b39573acbe03f775abf76d7b4d3" } }, { - "name": "com.nvidia.simready.packaging.bom.json", + "name": "license.txt", "hash": { - "sha256": "e53c720c81340ea73eb69b0aa9f426288f0f8c61a957342cda7917ea78cba4f9" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } }, { - "name": "com.nvidia.simready.root_usds.json", + "name": "yaskawa_motoman_next_nex35_benchmark.json", "hash": { - "sha256": "0fdddcf912f988914d1242897418317a640d6b39573acbe03f775abf76d7b4d3" + "sha256": "4693de1d013df896f643142ae76253f455bdea10478b5ec3d592b0c587fb0558" } }, { - "name": "license.txt", + "name": "yaskawa_motoman_next_nex35_validation.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "fb01ba92ee9f09468061e3b6549696a926a8ede4f1e2b67cb5972fcf97064cd2" } } ], @@ -44,6 +44,6 @@ "sha256": "8286081da7d79f29fa507fb89b623e129ca0da9844a0fcaaa7a1f8ec29ed1a6e" }, "package_hash": { - "sha256": "9182714294fff8d3a3897b4890bec97ea8eb4661d0a6f2251d9c9b77306af424" + "sha256": "b38e3f9e547e2aa4f693e7ebee1aecdeb5da28eb885d9ccbc64eae319ac211bd" } } diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index aee22b300e267d67edee2fe7df0a47b60a43ca3d..621653e9cb9e4c698e5d1545adc111d0eafd4db3 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:30", + "timestamp": "2026-11-03T23:37:19", "assets": [ { "asset": "NEX4.usda", diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index e60a829c8d95ae60f2e431bcfad5951fe4722ddd..3550c37ba86855fdb2e32a3c5a20d55a1c7509f5 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:32", + "timestamp": "2026-11-03T23:37:21", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json index c7e80952ac9b5edeb14b980b811279da9403af01..9661dc9b8637e92616ff768268ea582aee186566 100644 --- a/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex4/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nex4/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nex4/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NEX4.usda.png", diff --git a/yaskawa_motoman_next_nex4/.metadata/NEX4_benchmark.json b/yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nex4/.metadata/NEX4_benchmark.json rename to yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_benchmark.json index ed9b7dffbf35db194ff26e0b80929be75b986867..06db0cf2b9646c4fb0ff73a3d5cfd30b05aace5b 100644 --- a/yaskawa_motoman_next_nex4/.metadata/NEX4_benchmark.json +++ b/yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NEX4", + "asset": "yaskawa_motoman_next_nex4", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nex4/.metadata/NEX4_validation.json b/yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_validation.json similarity index 97% rename from yaskawa_motoman_next_nex4/.metadata/NEX4_validation.json rename to yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_validation.json index 2d591b82b9c22ba2efb34c0e751b6d4992515085..66194c275bee627e5bd8f1e63c12da5ad66aa244 100644 --- a/yaskawa_motoman_next_nex4/.metadata/NEX4_validation.json +++ b/yaskawa_motoman_next_nex4/.metadata/yaskawa_motoman_next_nex4_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json index b65232ad0d7bc7c665ffcbc9804e825a7199783b..c18893853b0aefb370e3971edb1846b5692c1fc6 100644 --- a/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex4/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex4.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex4.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NEX4_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "0994771b05e7a13a885500486fcf755cda930442dd05cff9944989a5f9a64d96" + "sha256": "5be9eea4dbc4128ad547a4e3cc31752688fd35dd565e89aa5f2e6af64e869275" } }, { - "name": "NEX4_validation.json", + "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "d8a2626ba7bca2965e79d1458e17acb87027540551149d3998442dc68efbf4ff" + "sha256": "e8b737c8bafca3720f9216e7e060a1960d3ce847e7f26f59bff6fea1b928b113" } }, { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "name": "com.nvidia.simready.root_usds.json", "hash": { - "sha256": "91b0fcf25557fc96556760d936b0b6803b231018f4c98bad735ae38f97dc05c0" + "sha256": "0780eb794b53d94a74ef395580af407f1462cf1648f6f60157c004dd6570f2c3" } }, { - "name": "com.nvidia.simready.packaging.bom.json", + "name": "license.txt", "hash": { - "sha256": "62ad557c1f3cd8423c49102d783b92176cecec37cb6051768aaf0f342da1bd7a" + "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" } }, { - "name": "com.nvidia.simready.root_usds.json", + "name": "yaskawa_motoman_next_nex4_benchmark.json", "hash": { - "sha256": "0780eb794b53d94a74ef395580af407f1462cf1648f6f60157c004dd6570f2c3" + "sha256": "7ce329ab311511b64fc601e7fac92991424e0e42f76b9f60f13309604b79ae2f" } }, { - "name": "license.txt", + "name": "yaskawa_motoman_next_nex4_validation.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "d6bc3f45b18eed56d36e43092f9a6c3a0c35265fc102c7e60bd7ed687eb7f78b" } } ], @@ -44,6 +44,6 @@ "sha256": "62e1e828744c9bb405aecc0b86217e15891bbc84319f3552aa91f909ad101812" }, "package_hash": { - "sha256": "e3a33a2a6980d2fb9aa626f53b00424fe2eed854dcb297545dd2df1a5d52ca01" + "sha256": "873d9e34ade29057427e0c4d4bf801c15ed58e7456dc45277c88e38ee1a9202d" } } diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ccbd5bedfbd379a444350418d30ed793d3c1b3f2..c81a80213c8413593331d64d160503253795db57 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:34", + "timestamp": "2026-11-03T23:37:22", "assets": [ { "asset": "NEX7.usda", diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 7f644a0b30ef0d2983874e43bf1735a85a84be49..948b9b957dfccdcaeda611416fbb7b3a3ed7d58c 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:36", + "timestamp": "2026-11-03T23:37:24", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json index 1bb2b144ee08e628bae79b71aac123bf8fb0007e..afd13d0f10df849773f55f513efd12a6bb6b3364 100644 --- a/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nex7/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nex7/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nex7/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NEX7.usda.png", diff --git a/yaskawa_motoman_next_nex7/.metadata/NEX7_benchmark.json b/yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nex7/.metadata/NEX7_benchmark.json rename to yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_benchmark.json index 02382db71b0926f97b12d49ebce116c566e489c6..04fc0a3865502007d1f8b221fb86e724c50068f7 100644 --- a/yaskawa_motoman_next_nex7/.metadata/NEX7_benchmark.json +++ b/yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NEX7", + "asset": "yaskawa_motoman_next_nex7", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nex7/.metadata/NEX7_validation.json b/yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_validation.json similarity index 97% rename from yaskawa_motoman_next_nex7/.metadata/NEX7_validation.json rename to yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_validation.json index dea5fae58613e835b7f618c5532fc7f4f64ee3c7..3f313f5a1f46084f7b3deac8aa266af9d880ba2b 100644 --- a/yaskawa_motoman_next_nex7/.metadata/NEX7_validation.json +++ b/yaskawa_motoman_next_nex7/.metadata/yaskawa_motoman_next_nex7_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json index 676040499c50d4032db034f2c80b655ff966291f..cddf817bff295204215f600d8f0be1ec491c60a1 100644 --- a/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nex7/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex7.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nex7.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NEX7_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "69cf401a5d0759a7e3b48dc2b6bd85cd4c69f3f591e6f88721075c845ebd4cb1" + "sha256": "47ceb6e2c1e93c4c6ce12950a38db849ca28d2f7e13ab3168a5e9c25af062344" } }, { - "name": "NEX7_validation.json", + "name": "com.nvidia.simready.packaging.bom.json", "hash": { - "sha256": "87e4156b9179556a2c43e2b38458821bcad5ded3bec9b426cc6927670d636f8d" + "sha256": "99608a3f318ca939cfb355cdbaaaac0d57c1647e3d677cf8c071b99035eb5fb6" } }, { - "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", + "name": "com.nvidia.simready.root_usds.json", "hash": { - "sha256": "68072f19bf119e531a0e410ab4e8394a800bef5ac6c6888f5963efe918d1e758" + "sha256": 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"4a7e5320f49050852dfbbd6feddbde6d32fa7bd2d11c6dc23556bd9a2aa6a472" + "sha256": "ef8db5a4f2b2982fa3045d517ae274bbcea91fcb5207d9546244881ab38a6580" } } diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json index ed345d4c77297c67e6c5d1e9e7b49615eccb2b8e..2620b09b7cfc711df24e5e4cab497233b4144b73 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package-Candidate", "profile_version": "1.0.0", - "timestamp": "2026-11-03T21:28:37", + "timestamp": "2026-11-03T23:37:25", "assets": [ { "asset": "NHC12.usda", diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json index 4dad1136559f264674b0329bbb4a8cc4114e3dd9..142f2e374f577c21b2fa108770964ad4b914f036 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json @@ -2,7 +2,7 @@ "format_version": "1.0", "profile": "Package", "profile_version": "1.1.0", - "timestamp": "2026-11-03T21:28:40", + "timestamp": "2026-11-03T23:37:27", "assets": [ { "asset": "com.nvidia.simready.packaging.json", diff --git a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json index 0835fde8fe89dd37ad46b44a405f0e54ce7629fc..533433f4786fcf1217bf6c1e9469f23b6c1aa340 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json +++ b/yaskawa_motoman_next_nhc12/.metadata/com.nvidia.simready.packaging.bom.json @@ -1,6 +1,6 @@ { "format_version": "1.0", - "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.1/.packages/yaskawa_motoman_next_nhc12/3.0.1", + "content_root": "file:///home/jwylie/Desktop/isaacsim-asset-package_3.0.2/.packages/yaskawa_motoman_next_nhc12/3.0.2", "items": [ { "relative_path": ".thumbs/256x256/NHC12.usda.png", diff --git a/yaskawa_motoman_next_nhc12/.metadata/NHC12_benchmark.json b/yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_benchmark.json similarity index 99% rename from yaskawa_motoman_next_nhc12/.metadata/NHC12_benchmark.json rename to yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_benchmark.json index 7968d7b366289094800d5d55e5a93fe7d1dcddce..855767681687f644be477463e97bbe83c4c4a163 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/NHC12_benchmark.json +++ b/yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_benchmark.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "asset": "NHC12", + "asset": "yaskawa_motoman_next_nhc12", "run_timestamp": "2026-10-31T20:07:08.573916+00:00", "passed": false, "results": [ diff --git a/yaskawa_motoman_next_nhc12/.metadata/NHC12_validation.json b/yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_validation.json similarity index 97% rename from yaskawa_motoman_next_nhc12/.metadata/NHC12_validation.json rename to yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_validation.json index 43c6cf6f76e9e2475ffba2df81f3d534ef3e61b4..bebcc0403a77ef71d4d3c84ec094afb2a2805aea 100644 --- a/yaskawa_motoman_next_nhc12/.metadata/NHC12_validation.json +++ b/yaskawa_motoman_next_nhc12/.metadata/yaskawa_motoman_next_nhc12_validation.json @@ -215,7 +215,10 @@ }, "profile_id": "Robot-Body", "profile_version": "3.0.0", - "simready_validate_version": null, - "tier_versions": {} + "simready_validate_version": "2026.10.0", + "tier_versions": { + "tier_core": "2026.10.0", + "tier_newton": "2026.10.0" + } } } diff --git a/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json b/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json index 56be2559e368b05a598397f687aa075929bbcb95..7dc6cada28c537cc0824501e9ea7a3d4568bd1eb 100644 --- a/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json +++ b/yaskawa_motoman_next_nhc12/com.nvidia.simready.packaging.json @@ -1,42 +1,42 @@ { "format_version": "1.0", - "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nhc12.3.0.1", + "package_id": "simready.hf.nvidia.isaacsim-assets.yaskawa_motoman_next_nhc12.3.0.2", "license": "CC-BY-4.0", "metadata": [ { - "name": "NHC12_benchmark.json", + "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json", "hash": { - "sha256": "2f88a553cd226694bd4eef2bb7d8d1594d0ea81ab0f147a9568b2b82806ec8f4" + "sha256": 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"sha256": "c9cd97e332bf3c4cb9c28fe9e8eac91ed093b99f55a9d8f03b0e946a9f1794fc" + "sha256": "f329f210ac6129820f3b62a3874b16f1ffdbe49cf5ba16b1b1daac58bd1b6c7a" } }, { - "name": "license.txt", + "name": "yaskawa_motoman_next_nhc12_validation.json", "hash": { - "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411" + "sha256": "e2a8374dda1789003d77496f084ce8f43f44f90c12f34070b9b3d432623d711f" } } ], @@ -44,6 +44,6 @@ "sha256": "870b8513027683f95a05e69f9063f96bd2586e3c5e3cba2e7c8788ee7ade4ce0" }, "package_hash": { - "sha256": "de1db088fd6f1f6ba9de95987815fd7defbc28e522a971209c59092ae6c0824b" + "sha256": "22444457c127833ebb4334057a3473d90664c7243512229c90a85fd5af9dd23f" } }